AICC, Autonomous Intelligent Cruise Control, is an automatic controller of the longitudinal velocity of an automobile. The development of this controller is a part of the Swedish RTI program. This paper presents a preliminary design for AICC, developed in a master thesis co-operation with Volvo AB. The goals for AICC are to adapt the velocity of the host car in order to keep the cruise speed desired by the driver, if it is within the legal speed limits. Compared to traditional cruise control systems this new system will also be able to detect a preceding vehicle, measure the distance to it and adapt the velocity of the host car, thus maintaining a safe distance to the vehicle ahead. This function increases the safety and encourages a more smooth driving, which implies less fuel consumption, less amount of harmful pollutants and better harmonized traffic. The algorithms presented in this paper have been developed for a car equipped with an electronic throttle system and an electronic brake system. The output signal from the controller under investigation is the acceleration set point. The input signals to the controller are the own velocity, the distance to the preceding vehicle, the speed limit and the desired speed, chosen by the driver. The first two signals are time-variant and the last two are piece-wise constant. Kalman filters that estimate the states of the preceding vehicle has been developed. These estimates together with an LQ-optimized control law combined with parameter scheduling control the velocity. Simulations show that the algorithms handle car following situations satifactorily.
A controller for autonomous intelligent cruise control - a preliminary design
Ein intelligenter Kraftfahrzeugs-Geschwindigkeitsregler mit Abstandsmessung
1992
6 Seiten, 3 Bilder, 6 Quellen
Conference paper
English
Kraftfahrzeug , Orientierung , Leitsystem , Straßenverkehr , akustisches Signal , Verkehrsablauf , Verkehrslenkung , Verkehrsstauung , Geschwindigkeitsregelung , Geschwindigkeitsmessung , Fahrgeschwindigkeit , Abstandsmessung , Unfallverhütung , Schweden , Algorithmus , dynamisches Verhalten , Regelalgorithmus
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