Inter-Vehicle Distance Stabilization in Adaptive Cruise Control Using Signal Limitation Filter

The shape of the input signal to be applied is sometimes converted into trapezoidal wave in order to prevent an overload on the robot in FA field. Generally, physical protection of equipments, safety and improving ride quality are achieved with limitation of the input signal for the actual plant. For this limitation, filter which limits signals online are widely used. In previous study, we proposed the signal limitation filter to satisfy velocity and acceleration constraints for arbitrary input signals with less time delay. In this paper, the effectiveness of the signal limitation filter in the previous study is verified by using a small vehicle robot with adaptive cruise control and the effectiveness is verified by experiments with actual vehicle.