Title :
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
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;
Conference_Titel :
Consumer Electronics, Communications and Networks (CECNet), 2011 International Conference on
Conference_Location :
XianNing
Print_ISBN :
978-1-61284-458-9
DOI :
10.1109/CECNET.2011.5768824
