Adaptive Cruise Control System Based Optimal PID Control with SSA

This paper proposed an Adaptive Cruise Control (ACC) control algorithm in vehicles.The ACC aims to determine required acceleration based on the distance measured between cars and the speed of the vehicle itself.The objective of this control system is to follow the front vehicle with a safety distance between lead and ego vehicles.For this purpose, the proposed controller is based on the PI controller applied to a ACC system.The proposed control system consists of two parts: an upper and lower controller.The upper controller decided which mode would be active: distance or speed control.The lower part controller is the PI controller, which determines the appropriate control signal.The Slap Swarm Algorithm (SSA) optimization algorithm has been used for tuning the parameters of the proposed controller.The simulation results of the proposed algorithm show that it provides excellent performance.