Weather-aware fuzzy adaptive cruise control: Dynamic reference signal design

This paper presents a novel Adaptive Cruise Control (ACC) system, as part of Advanced Driver Assistance Systems (ADAS), in which weather conditions are included in the ACC operations adapting to different weather conditions and road-tire friction. A controller in the main loop of the ACC generates, in real-time, a dynamic reference signal to adjust the safe distance and velocity of the vehicle, based on different weather conditions using innovative polynomial, Sine, or Gaussian functions. A slave loop minimizes the velocity error and ensures collision prevention and passenger comfort. The system considers the nonlinear behavior of the vehicles' actuators and dynamics. Simulations with various driving scenarios, such as hard stops and frequent stopand-go maneuvers, show that the system can achieve high safety and comfort performance in icy, snowy, rainy, or dry weather. On average, the relative distance and velocity error are less than 0.6% and 0.5%, respectively.