دریچه گاز الکترونیکی دو حالته برای کمک به سیستم

for R&D of vehicle longitudinal driver assistance systems, such

as ACC, may conflict with car”s primary throttle system and

have inconvenience in switch between ACC control and driver

operating. In order to overcome the disadvantages

abovementioned, this paper addresses the design, control and

experiments of a Double-Mode Electronic Throttle (DMET)

which can be operated by ACC and driver synchronously. First,

based on the existing electronic throttle system the structure of

the DMET is designed. Then, focusing on the time delay of the

DMET, a gain-adaptive Smith predictor based on a identified

transfer function is set to get better system dynamic

performance. Furthermore, in order to achieve seamless switch

between ACC control mode and driver operating mode, a dead

zone restriction is introduced to the controller. Finally, the

system performance in tracking ACC desired throttle angle and

switching between two operating modes is confirmed by series of

experiments.

Key words-Driver assistance system; ACC; Throttle control;

Gain-adaptive Smith predictor

Abstract-Normally used electronic assistant throttle actuatorsfor R&D of vehicle longitudinal driver assistance systems, suchas ACC, may conflict with car”s primary throttle system andhave inconvenience in switch between ACC control and driveroperating. In order to overcome the disadvantagesabovementioned, this paper addresses the design, control andexperiments of a Double-Mode Electronic Throttle (DMET)which can be operated by ACC and driver synchronously. First,based on the existing electronic throttle system the structure ofthe DMET is designed. Then, focusing on the time delay of theDMET, a gain-adaptive Smith predictor based on a identifiedtransfer function is set to get better system dynamicperformance. Furthermore, in order to achieve seamless switchbetween ACC control mode and driver operating mode, a deadzone restriction is introduced to the controller. Finally, thesystem performance in tracking ACC desired throttle angle andswitching between two operating modes is confirmed by series ofexperiments.Key words-Driver assistance system; ACC; Throttle control;Gain-adaptive Smith predictor