Intelligent Adaptive Cruise Control with Enhanced Obstacle Detection for Q-Car Platform

The paper presents successful implementation of Adaptive Cruise Control (ACC) for data extraction using the CSI camera and Intel RealSense Depth camera on Quanser’s Q-Car platform. The sensors are utilized for road line extraction, obstacle detection, and steering control. User commands like Set Speed, Safe Stop Distance, Nominal Tracking Distance, and ARM/DISARM directives are efficiently processed by the ACC controller. The integration of a PI controller stabilizes the output, achieving a closed-loop control with encoder feedback. Our improvised version of ACC enhances obstacle detection by introducing a steering-based Region of Interest (ROI) bounding box, effectively utilizing sensors during corners and ensuring accurate data acquisition, thus enhancing safety in turning maneuvers.