A safe longitudinal control for adaptive cruise control and stop-and-go scenarios

被引：185
作者：
Martinez, John-Jairo [1 ]
Canudas-de-Wit, Carlos [1 ]
机构：
[1] CNRS, UMR 5528, ENSIEG,INPG, Lab Automat Grenoble, F-38440 St Martin Dheres, France
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2007年 / 15卷 / 02期
关键词：
automotive safety; cruise control; road vehicle control;
D O I：
10.1109/TCST.2006.886432
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose a novel reference model-based control approach for automotive longitudinal control. The reference model is nonlinear and provides dynamic solutions consistent with safety constraints and comfort specifications. The model is based on physical laws of compliant contact and has the particularity that its solutions can be explicitly described by integral curves. This allows to characterize the set of initial condition for which the constraints can be met. This model is combined with a simple feedback loop used to compensate unmodeled dynamics and external disturbances. Model simulations together with experimental results are also presented.
引用
收藏
页码：246 / 258
页数：13
相关论文
共 20 条
  • [1] Alvarez L, 1997, P AMER CONTR CONF, P2454, DOI 10.1109/ACC.1997.609195
  • [2] BENGTSSON J, 2001, THESIS LUND I TECHNO
  • [3] BRACKSTONE M, 2002, TRANSPORT RES F-TRAF, V2, P181
  • [4] Chien C. C., 1992, Proceedings of the 1992 American Control Conference (IEEE Cat. No.92CH3072-6), P1748
  • [5] Human-centered design of an Acc-with-braking and forward-crash-warning system
    Fancher, P
    Bareket, Z
    Ervin, R
    [J]. VEHICLE SYSTEM DYNAMICS, 2001, 36 (2-3) : 203 - 223
  • [6] Combining lanekeeping and vehicle following with hazard maps
    Gerdes, JC
    Rossetter, EJ
    Saur, U
    [J]. VEHICLE SYSTEM DYNAMICS, 2001, 36 (4-5) : 391 - 411
  • [7] GERMANN S, 1995, PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6, P3081
  • [8] Goodrich M. A., 2000, IEEE Transactions on Intelligent Transportation Systems, V1, P40, DOI 10.1109/6979.869020
  • [9] Gorjestani A, 2000, P AMER CONTR CONF, P1519, DOI 10.1109/ACC.2000.879453
  • [10] Hennessey MP, 1995, P SOC PHOTO-OPT INS, V2592, P48, DOI 10.1117/12.228920
12