Name of Faculty Sponsor

Kevin McFall

Faculty Sponsor Email


Publication Date

June 2017


The standard method for speed control is the cruise control system built into most modern vehicles. These systems employ a PID controller which actuates the accelerator thus, in turn, maintains the desired vehicle speed. The main drawback of such a system is that typically the cruise control will only engage above 25 mph. The goal of this paper is to describe a system which we used to control vehicle speed from a stop to any desired speed using an Arduino microcontroller and a CAN BUS shield, from where autonomous features can be built upon. With this system, we were able to implement a proportional gain controller which maintains the speed at within ±1 mph with a 1s rise time.

Formatted_CAN.xlsx (92362 kB)
Formatted CAN Data

des_vs_cur_speed_v2.xlsx (117 kB)
Desired Speed vs Current Speed

sparkfun_vehicle_control_MEGA.ino (6 kB)
Arduino Code