In this paper, a framework for the optimal longitudinal control of autonomous buses is proposed for multi-target scenarios. Autonomous buses operate on roads that present various events, such as vehicular interactions, traffic signals, and bus stop pauses. Consequently, the development of suitable acceleration/deceleration strategies and control systems that effectively respond to each situation is essential. For each event, a reference acceleration model is established. Priorities amongst numerous events are ascertained by comparing the reference accelerations designed for each situation. As for the longitudinal controller, a novel bus model is developed to embody the unique actuator characteristics inherent to large buses. Moreover, Model Predictive Control (MPC) is utilized to determine the optimal longitudinal acceleration for the selected target, enhancing passenger comfort by limiting acceleration and minimizing actuator transitions. The proposed longitudinal control system is validated through field tests in a complex road environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Multi-target Longitudinal Control Based on Model Predictive Control for Autonomous Bus


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Huang, Wei (Herausgeber:in) / Ahmadian, Mehdi (Herausgeber:in) / Han, Sangwon (Autor:in) / Kim, Gihoon (Autor:in) / Choi, Jaeho (Autor:in) / Park, Geonyeong (Autor:in) / Choi, Seungwon (Autor:in) / Huh, Kunsoo (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023



    Erscheinungsdatum :

    13.10.2024


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Model Predictive Longitudinal Control for Autonomous Driving

    Dahiwale, Priyanka B. / Chaudhari, Madhuri A. / Kumar, Rohit et al. | IEEE | 2023





    A Model Predictive-Based Approach for Longitudinal Control in Autonomous Driving with Lateral Interruptions

    Liu, Kai / Gong, Jianwei / Kurt, Arda et al. | British Library Conference Proceedings | 2017