CHAPTER SIX

CRUISE CONTROL
SYSTEM

Automotive Electrical and Electronics II

08/06/20
25
LAYOUT OF THE PRESENTATION

 Introduction to cruise control.

 Types of cruise control system
 Conventional cruise control
system.
 Adaptive Cruise Control .
 Stop and Go Cruise Control .
 Cooperative adaptive cruise
control system .
 Introduction to cruise
control
• Cruise control system sometimes referred to as speed
control is one of the advanced system and has become
a common feature in automobiles nowadays.
• The cruise control function allows the driver of a car to
maintain speed without pressing the accelerator pedal.
• Instead of driver frequently checking out the
speedometer and adjusting pressure on the throttle
pedal or the brake.
• Cruise control system takes control over the speed of
the car by maintaining the constant speed set by the
driver.
• Therefore, this system can help in reducing driver’s
fatigue in driving a long road trip.
 In the process of the cruise control system:
• Firstly, the driver sets the desired speed of the car
by turning on the cruise control mode at the
desired speed, such that the car travels at the set
speed and hits the button.
• Secondly, the processing unit in the system
receives the input signal, and progress the output
signal to the actuator.
• Thirdly, the actuator adjusts the throttle position
according to the command of controller.
• Finally, the changes in the throttle position leads
to the change in the speed of the car travelling and
obtains the desired speed
 Operating the ‘set’ switch programs the memory
but this normally will only work if conditions
similar to the following are met.
• Vehicle speed is greater than 40 km/h.
• Vehicle speed is less than 12 km/h.
• Change of speed is less than 8 km/h/s.
• Automatics must be in ‘drive’.
• Brakes or clutch are not being operated.
• Engine speed is stable.
• When cruising at a set speed, the driver can
press and hold the ‘set’ button to accelerate the
vehicle until the desired speed is reached when
the button is released.
• If the driver accelerates from the set speed to
overtake, for example, then when the throttle is
released, the vehicle will slow down until it
reaches the last set position.
Functional requirements for a
good cruise control system

• Hold the vehicle speed at the selected

value.
• Hold the speed with minimum surging.
• Allow the vehicle to change speed.
• Relinquish control immediately when
the brakes are applied.
• Store the last set speed.
• Contain built in safety features.
 Types of cruise control
systems
1. Conventional cruise control system
2. Adaptive cruise control system
3. Stop and go adaptive cruise control
system
4. Cooperative adaptive cruise control
system
A. Conventional cruise control system

• Conventional Cruise Control is a driving

support system intended to allow more
comfortable driving on expressways,
freeways and interstate highways.
• It can be used to travel at a constant speed
by maintaining the vehicle speed that was
set by the driver
 PRINCIPLE OF OPERATION
• The cruise control system automatically controls the
vehicle speed. It allows the vehicle to run at a constant
speed without need for the driver to keep the accelerator
pedal depressed.
• The cruise control system is controlled by the engine
control module (ECM).
• When the driver has activated the system and made a
desired speed setting, the engine control module (ECM)
compares the actual vehicle speed detected by the speed
sensor with the preset speed in the engine control module
(ECM) memory, and then generates a signal according to
the difference between the two speeds.
• This signal is transmitted to the electronic control throttle.
• The electronic control throttle operates the throttle valve
as necessary to keep the preset vehicle speed
LOCATION OF COMPONENTS
(1) Battery (12) Electronic control
throttle
(2) Ignition switch (13) Vehicle speed sensor
(3) Cruise indicator light (14) Vehicle speed signal
(4) Cruise set indicator light (15) Engine control
module (ECM)
(5) Main relay (16) MAIN switch
(6) Starter (17) RESUME/ACCEL
switch
(7) Clutch switch (18) CANCEL switch
(8) Clutch pedal (19) SET/COAST switch
(9) Stop light and brake switch (20) Cruise control
command switch
(10) Brake pedal (21) Ground
(11) Neutral switch
 COMMAND SWITCH (CRUISE CONTROL LEVER)

• When the vehicle is driven with the cruise control

activated, the command switch controls its operation.
• It inputs MAIN signal, SET/COAST signal,
ACCEL/RESUME signal or CANCEL signal to the
engine control module (ECM).
• When the cruise control MAIN switch is turned ON,
the cruise set indicator light in the combination
meter illuminates.
• Also, when the cruise control is set, the cruise
indicator light in the combination meter illuminates.
(1) Command switch (6) CANCEL
(2) Horn relay (7) RESUME/ACCEL
(3) Horn (8) MAIN
(4) Horn switch (9) Engine control module
(ECM)
(5) SET/COAST
• The command switch is located on the right side of the steering
wheel, so the driver can operate it without releasing hands from
the steering wheel. The command switch is a self-returning lever
type.
1. MAIN SWITCH
• When the switch is pushed once the cruise
control system turns ON and becomes ready to
set the cruise control.
• When the switch is pushed again the cruise
control turns OFF.

On off button

1) Cruise indicator 2) cruise control

switch lever
2. RESUME/ACCEL AND SET/COAST SWITCH
• Each switch contact is held closed as long as the
lever is kept pressed in the relevant direction and
resulting current is applied as a signal to the engine
control module (ECM).

1) accelerating 2) deceleration 1) cancel 2) resume

3. CANCEL SWITCH
All the switch contacts are closed as long as the
lever is pulled toward the CANCEL position (toward
the driver). This causes the RESUME/ACCEL and
SET/COAST ON signals to be sent to the engine
control module (ECM) simultaneously.
4) CANCEL SIGNALS
• The cancel signal deactivates the cruise control function.
Operating any of the following switches results in
generation of the cancel signal. On receiving the signal, the
engine control module (ECM) cancels the cruise control
function.
 Stop light switch
 Brake switch
 Clutch switch
 Neutral switch
 MAIN switch (OFF operation)
 Command switch (CANCEL position)
 Ignition switch (OFF operation)
5) VEHICLE SPEED SENSOR
• The vehicle speed sensor is installed on the transmission,
and sends signal to the engine control module (ECM) which
uses it in controlling the cruise control function.
6) ENGINE CONTROL MODULE (ECM)
• Based on signals from the related switches and
sensors, the engine control module (ECM)
controls all the following control functions:
Constant speed control; speed setting control;
deceleration control; acceleration control;
resume control; manual cancel control; low speed
limit control; electronic control throttle control
• The engine control module (ECM) (A) is located
in the legroom of the front passenger’s seat.

Engine control module

(ECM)
 B) Adaptive Cruise Control
(ACC)
• Adaptive Cruise Control (ACC) is an extension of
conventional cruise control a system that combines cruise
control with a system for collision avoidance.
• At first only top models of brands such as Mercedes,
Jaguar, and BMW were equipped with this latest
development in automation technology for automobiles, but
recently other brands, such as Nissan, Renault, Fiat, and
Volkswagen introduced ACC in their higher-end models.
The system is known under a wide variety of names, such as:
• Advance Cruise Control (BMW),
• Distronic ACC (Mercedes),
• Intelligent Cruise Control (Nissan).
• Adaptive Cruise Control (ACC) is an automotive feature
that allows a vehicle's cruise control system to adapt the
vehicle's speed to the traffic environment.
• A radar system attached to the front of the vehicle is used
to detect whether slower moving vehicles are in the ACC
vehicle's path.
• If a slower moving vehicle is detected, the ACC system will
slow the vehicle down and control the clearance, or time
gap, between the ACC vehicle and the forward vehicle.
• If the system detects that the forward vehicle is no longer in
the ACC vehicle's path, the ACC system will accelerate the
vehicle back to its set cruise control speed.
• This operation allows the ACC vehicle to autonomously slow
down and speed up with traffic without intervention from
the driver.
• The method by which the ACC vehicle's speed is controlled
is via engine throttle control and limited brake
operation.
Algorithm for adaptive cruise control system
 ACC signals and information flow

ACC Vehicle Relationships

• Commonly, a radar is used to detect preceding
vehicles, measuring the distance and the relative
velocity between the vehicles.

Example of the ACC working principle.

• The host vehicle, driving with velocity vh and
acceleration ah, is equipped with an ACC, which
ensures automatic following of the preceding target
vehicle, driving with velocity vt. Radar measures the
distance xr and the relative velocity between the
vehicles.
 1) Physical Layout of ACC
• ACC system consists of a series of interconnecting components and
systems. The method of communication between the different modules
is via a serial communication network known as the Controller Area
Network (CAN).
I) ACC Module – The primary function of the ACC module is to process
the radar information and determine if a forward vehicle is present.
When the ACC system is in 'time gap control', it sends information to
the Engine Control and Brake Control modules to control the
clearance between the ACC Vehicle and the Target Vehicle.
II) Engine Control Module – The primary function of the Engine
Control Module is to receive information from the ACC module and
Instrument Cluster and control the vehicle's speed based on this
information. The Engine Control Module controls vehicle speed by
controlling the engine's throttle.
III) Brake Control Module – The primary function of the Brake
Control Module is to determine vehicle speed via each wheel and to
decelerate the vehicle by applying the brakes when requested by the
ACC Module. The braking system is hydraulic with electronic
enhancement, such as an ABS brake system, and is not full authority
brake by wire.
IV) Instrument Cluster – The primary function of the Instrument Cluster is
to process the Cruise switches and send their information to the ACC and
Engine Control Modules. The Instrument Cluster also displays text messages
and telltales for the driver so that the driver has information regarding the
state of the ACC system.
V) CAN – The Controller Area Network (CAN) is an automotive standard
network that utilizes a 2 wire bus to transmit and receive data. Each node on
the network has the capability to transmit 0 to 8 bytes of data in a message
frame. A message frame consists of a message header, followed by 0 to 8 data
bytes, and then a checksum.
VI) Cruise Switches – The Cruise Switches are mounted on the steering
wheel and have several buttons which allow the driver to command operation
of the ACC system. The switches include:
 'On': place system in the 'ACC standby' state
 'Off'': cancel ACC operation and place system in the 'ACC off' state
 'Set +': activate ACC and establish set speed or accelerate
 'Coast': decelerate
 'Resume': resume to set speed
 'Time Gap +': increase gap
 'Time gap –': decrease gap
Physical layouts
• Brake Switches – There are two brake switches, Brake Switch 1 (BS1) and
Brake Switch 2 (BS2). When either brake switch is activated, Cruise Control
operation is deactivated and the system enters 'ACC standby' state.
• Brake Lights – When the Brake Control Module applies the brakes in response
to an ACC request, it will illuminate the brake lights to warn vehicles behind
the ACC vehicle that it is decelerating.
Operational Overview
• The driver interface for the ACC system is very similar to a conventional cruise
control system. The driver operates the system via a set of switches on the
steering wheel.
• The switches are the same as for a conventional cruise control system except
for the addition of two switches to control the time gap between the ACC
vehicle and the target vehicle.
• In addition there are a series of text messages that can be displayed on the
instrument cluster to inform the driver of the state of the ACC system and to
provide any necessary warnings.
• The driver engages the ACC system by first pressing the ON switch which
places the system into the 'ACC standby' state.
• The driver then presses the Set switch to enter the 'ACC active' state at which
point the ACC system attempts to control the vehicle to the driver's set speed
dependent upon the traffic environment.
 SENSOR OPTIONS

• Three means of object detection are technically feasible

and applicable in a vehicle environment. They are:
I. RADAR
II. LIDAR
III. FUSION SENSORS
 I) LIDAR (Light Detection and Ranging)

• Lidar is an optical remote sensing technology that

measures properties of scattered light to find range and/or
other information of a distant target. Like the similar
radar technology, which uses radio waves instead of light,
the range to an object is determined by measuring the
time delay between transmission of a pulse and detection
of the reflected signal. The first acc system introduced by
Toyota used this method.
• LIDAR system is of low cost and provides good angular
resolution although bad weather conditions restrict its use
within a 30 to 40 meters range.
• A company named Vorad Technologies has developed a
system which measured up to one hundred meters. A low
powered, high frequency modulated laser diode was used
to generate the light signal.
 II) RADAR (Radio Detection and Ranging):

• RADAR is an electromagnetic system for the detection and

location of reflecting objects like air crafts, ships, space
crafts or vehicles.
• It is operated by radiating energy into space and detecting
the echo signal reflected from an object (target) the
reflected energy is not only indicative of the presence but on
comparison with the transmitted signal, other information of
the target can be obtained.
• The currently used ‘Pulse Doppler RADAR’ uses the principle
of ‘Doppler effect’ in determining the velocity of the target.
• Most of the current ACC systems are based on 77GHz
RADAR sensors.
• The RADAR systems have the great advantage that the
relative velocity can be measured directly, and the
performance is not affected by heavy rain and fog.
 PULSE DOPPLER RADAR
A Doppler radar is a specialized radar that
makes use of the Doppler effect to produce velocity
data about objects at a distance.
It does this by beaming a microwave signal
towards a desired target and listening for its
reflection, then analyzing how the frequency of the
returned signal has been altered by the object's
motion.
This variation gives direct and highly accurate
measurements of the radial component of a target's
velocity relative to the radar.
Doppler radars are used in aviation, sounding
satellites, meteorology, police speed guns,
radiology and healthcare (fall detection and risk
assessment, nursing or clinic purpose), and bistatic
radar (surface-to-air missile).
• The new sensor III) FUSION
system SENSOR
introduced by Fujitsu Ten Ltd.
and Honda through their PATH program includes
millimeter wave radar linked to a 640x480 pixel stereo
camera with a 40 degree viewing angle. These two
parts work together to track the car from the non-
moving objects. While RADAR target is the car’s rear
bumper, the stereo camera is constantly captures all
objects in its field of view.

A prototype of a car with fusion sensor arrangement

 Block diagram of sensing and controlling
• process the distances to the objects
The image processor measures
through triangulation method. This method includes an
algorithm based on the detection of the vertical edges and
distance. Incorporating both the 16-degree field of view of
radar and 40-degree field of view of camera enhances the
performance in tight curves.
Operation during Speed Control Mode (ACC Speed Control)
• Operation during this mode is equivalent to that of conventional
speed control.
• If no forward vehicle is present within the Time Gap or clearance of
the system, the vehicle's speed is maintained at the target speed.
• The engine control system controls the engine output via throttle
control to maintain the vehicle speed at the target speed.
Operation during Follow Mode (ACC Time Gap Control)
• The ACC system enters follow mode or 'ACC time gap control' if the
radar detects a forward vehicle at or within the clearance distance.
• During this mode of operation, the ACC system sends a target speed
to the Engine Control Module and deceleration commands to the
Brake Control module to maintain the set time gap between the
vehicles.
Deceleration control – The ACC system decelerates the vehicle by
lowering the target speed sent to the Engine Control Module and
sending a brake deceleration command to the Brake Control
Module.
• During brake deceleration events, the Brake Control Module
activates the brake lights.
Acceleration control – The ACC system accelerates the vehicle by
increasing the target speed sent to the Engine Control Module.
• The Engine Control Module tries to maintain the target speed and can
accelerate the vehicle.
• Adjusting the time gap – The driver can adjust the time gap via the
'Time Gap +' and 'Time Gap –' switches.
• Pressing the 'Time Gap +' switch causes the time gap value to
increase and therefore the clearance between the two vehicles to
increase.
• Pressing the 'Time Gap –' switch causes the time gap value to decrease
and therefore the clearance between the two vehicles to decrease.
• Reaction to a slow moving or stopped vehicle – Situations may
occur such that the ACC system is not able to maintain the time gap
within the deceleration authority of the system.
• The clearance between the ACC vehicle and the forward vehicle may
be rapidly decreasing or the minimum vehicle speed of 25 [mph] may
be reached.
• Under these situations the ACC system enters 'ACC standby' and alerts
the driver by displaying a "Driver Intervention Required" text message
on the instrument cluster and by turning on an audible chime.
• If the brakes were being applied by the ACC system, they will be slowly
released. At this point the driver must take control of the vehicle
 3) Stop and Go A.C.C (SACC)

• The second generation of ACC is the Stop and Go

Cruise Control (SACC) whose objective is to offer the
customer longitudinal support on cruise control at
lower speeds down to zero velocity.
• The SACC can help a driver in situations where all
lanes are occupied by vehicles or where it is not
possible to set a constant speed or in a frequently
stopped and congested traffic.
• There is a clear distinction between ACC and SACC
with respect to stationary targets.
4) Cooperative adaptive cruise control
system (CACC)
• The CACC concept envisions drivers sharing vehicle control with an
automated system that includes pervasive vehicle-to-vehicle (V2V)
and vehicle-to-infrastructure (V2I) communications.
• Using dedicated short-range communications (DSRC), vehicles
communicate directly with other nearby equipped vehicles to
coordinate and adjust longitudinal control through throttle and
brake activations.
• These automated responses occur much more quickly than
humanly possible, allowing equipped vehicles to safely travel closer
together and increasing the road capacity.
• Additionally, equipped vehicles broadcast performance data to
roadway infrastructure via DSRC to enable the infrastructure to
monitor traffic flow and incidents.
• Using these data, the infrastructure could develop predictive traffic
models and broadcast targets such as speed, following distance,
and acceleration and deceleration rates to CACC-equipped vehicles
to optimize traffic flow. While the potential throughput benefits are
clear in highway environments, infrastructure-emitted information
could also promote significant improvements in arterial settings.
 In an arterial environment, I2V communications have the ability
inform drivers of upcoming intersections and their signal
phases, which can smooth deceleration and acceleration rates
and reduce the need to come to a complete stop.
• In addition to simply reducing travel time, these benefits can
have a significant environmental effect.
• I2V communications could warn drivers of intersecting vehicles
appearing to be running a red light, pedestrian crosswalk
activations, approaching emergency vehicles, etc.
 A Cooperative Adaptive Cruise Control (CACC) system has been
developed by adding a wireless vehicle-vehicle communication
system and new control logic to an existing commercially
available adaptive cruise control (ACC) system.
• The CACC is intended to enhance the vehicle-following
capabilities of ACC so that drivers will be comfortable using it at
shorter vehicle-following gaps than ACC.
• If this is shown to be the case, it offers a significant opportunity
to increase traffic flow density and efficiency without
compromising safety or expanding roadway infrastructure.
 System configuration
• Though conventional ACC and SACC are still expensive
novelties, the next generation called Cooperative ACC is
already being tested. While ACC can respond to the difference
between its own behavior and that of the preceding vehicle,
the CACC system allows the vehicles to communicate and to
work together to avoid collision.
 MAIN POSTULATIONS
ABOUT CACC:
1. In CACC mode, the preceding vehicles can
communicate actively with the following Vehicle So
that their speed can be coordinated with each other.
2. Because communication is quicker, more reliable
and responsive compared to autonomous sensing as in
ACC.
3. Because braking rates, breaking capacity and other
important information about the vehicles can be
exchanged, safer and closer vehicle traffic is possible.
• Under CACC, both the leading and following vehicles
are electronically “tied” to a virtual reference
vehicle, as well as to each other.
 ADVANTAGES
1. The driver is relieved from the task of careful
acceleration, deceleration and braking in congested
traffics.
2. A highly responsive traffic system that adjusts itself to
avoid accidents can be developed.
3. Since the braking and acceleration are done in a
systematic way, the fuel efficiency of the vehicle is
increased.
DISADVANTAGES
1. A cheap version is not yet realized.
2. A high market penetration is required if a society of
intelligent vehicles is to be formed.
3. Encourages the driver to become careless. It can lead to
severe accidents if the system is malfunctioning.
4. The ACC systems yet evolved enable vehicles to cooperate
with the other vehicles and hence do not respond directly
 Thank You for Listening.
If you have any Questions you are
welcome.