RST Longitudinal Control Design for Smart Car Platform in Autonomous Driving

• Published in: Studies in Informatics and Control Vol. 34; no. 1; pp. 97 - 107
• Main Authors: LUU, Duc Lich, LUPU, Ciprian, BUI, Van Ga, HUNG, Nguyen Viet
• Format: Journal Article
• Language: English
• Published: Bucharest National Institute for Research and Development in Informatics 2025
• Subjects: Algorithms; Controllers; Design; Performance evaluation; Systems design; Traffic flow; Vehicles; Velocity
• ISSN: 1220-1766; 1841-429X
• DOI: 10.24846/v34i1y202508

As one of the most important Advanced Driving Assistant Systems (ADASs), Adaptive Cruise Control (ACC) system is the initial development stage of intelligent driving technology, which is extended from the Cruise Control (CC) system. Leading car using CC system is moving with a desired velocity, and a host car using ACC system approaches the preceding vehicle and it maintains the actual distance close to the desired distance, based on both the constant time headway policy and the constant spacing policy. This study presents a design methodology for both CC and ACC systems, in the discrete time system, by using RST (reference signal tracking) polynomial Controller. Digital Control Design by the polynomial method, as RST polynomial, has outstanding advantages such as: simplicity, flexibility and real-time applicability in the discrete time system. A new smart car platform, which has been introduced in a previous work, is embedded and tested to evaluate the performance and effectiveness of the RST structure in the discrete time system, for both CC and ACC systems. Simulation and testing results show that the RST algorithms proposed in this study have good applicability.