Wide speed-range following control for road autonomous vehicles

Author

Liu, Zilong ; Chen, Wenbo ; Jiang, Yanxia

Author_Institution

Sch. of Opt.-Electr. & Comput. Eng., Univ. of Shanghai for Sci. & Technol., Shanghai, China

fYear

2011

fDate

16-18 April 2011

Firstpage

4625

Lastpage

4629

Abstract

This paper is to design an autonomous cruise control module for autonomous vehicle following to maintain steering smoothness and a desired intervehicle spacing from highway to nonhighway environments. We reasonably simplify the nonlinear kinematical module to linear time-varying module by combining optimal control on lateral side with classic correction control on longitudinal side. Computer simulations carried out to verify this method exerts better control effect in wide range of speed, shorter time response, higher precision and better stability.

Keywords

control system synthesis; digital simulation; maintenance engineering; mobile robots; optimal control; road vehicles; steering systems; time-varying systems; velocity control; autonomous cruise control module; classic correction control; computer simulation; intervehicle spacing; linear time varying module; nonlinear kinematical module; optimal control; road autonomous vehicle; steering smoothness; wide speed range following control; Control design; Decision support systems; Mobile robots; Optimal control; Time factors; Vehicles; Zirconium; autonomous vehicle following; lateral control; longitudinal control; optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on

Conference_Location

XianNing

Print_ISBN

978-1-61284-458-9

Type

conf

DOI

10.1109/CECNET.2011.5768824

Filename

5768824