ACC is an advanced cruise control system that maintains a safe and controllable distance between the vehicle under consideration and the vehicle in front of it. As of today, various ACC implementations are available, even for mid-sized vehicles or compact cars. Existing algorithms, however, do not yet really reflect the behavior of a human driver with respect to braking and accelerating. Therefore, most ACC strategies do not satisfactorily handle challenging driving situations for low velocity ranges (< 20 km/h) and especially stop and go scenarios. Furthermore, the existing ACC implementations are mostly not very well-structured in code and therefore not very clear and easy to test or to maintain. In this paper, a new MATLAB/Simulink-based approach is presented. Only one controller is used for all tasks and it always controls the vehicle speed. Instead of the original speed setpoint, a corrected speed setpoint is used as an input for the core controller. The correction of the speed setpoint is necessary when the distance control mode is active and the vehicle is to follow the vehicle in front by keeping a reference distance. This can be ensured when the velocity of the controlled vehicle is equal to the corrected speed setpoint which is calculated in an extra subsystem. Advanced modelling and control design strategies will be explained based on a Simulink implementation in combination with Stateflow-based control and mode logics. This approach allows the design of ACC dynamics behaving close to how human drivers would apply the brake or the gas pedal at all velocity ranges and depending on the current gear.
Adaptive cruise control - a new full range algorithm behaving like a human driver
2006
7 Seiten, 3 Bilder
Conference paper
English
Adaptive Cruise Control - a new full range Algorithm behaving like a Human Driver
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