DDS-Based Adaptive Cruise Control

This study presents a middleware-based Adaptive Cruise Control (ACC) system to reduce driving time. The ACC system supports four driving modes and controls automobile acceleration and deceleration to maintain a set pace or avoid a collision. Real-time adaptive cruise control delays may harm people. A narrow window period should be used to minimize time delay in such applications since timeliness is critical. We propose a real-time ACC system that incorporates the Information Cluster, Radar, Brake Switches, and Cruise Switches, the ACC Controller, the Engine/Throttle Controller, a Brake Controller, brake actuators, speed sensors, and rear brake lights. We suggest an approach that eliminates the hierarchical information flow structure of ACC, which normally has an upper and lower controller. Real-time publisher/subscriber DDS middleware will exchange data. This study also detailed the publish/subscribe model's architecture and proposed QoS policies. A rudimentary prototype that replicates communication between these components was created and tested. The findings demonstrate that the system still works within the allowable delay in such actual systems while leveraging DDS middleware functionalities.