Abstract
Current Full Range Adaptive Cruise Control (FRACC) systems switch between separate adaptive cruise control and collision avoidance systems. This can lead to jerky responses and discomfort during the transition between the two control modes. We propose a Full Range Adaptive Cruise Control (FRACC) design integrating adaptive cruise control and collision avoidance into a single non-linear mathematical formulation. The proposed FRACC responds to a velocityerror using a sigmoidal function of forward spacing. Mathematical properties of the controller, in particular string stability, are examined. Simulation experiments demonstrate that the controller yields smooth and safe responses in typical highway scenarios, including hard-braking and cut-in scenarios. Results also show a clear advantage of the proposed controller in string stability performance with reference to a state-of-The-Art controller.
Original language | English |
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Title of host publication | Proceedings of the IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016 |
Editors | R. Rosetti, D. Wolf |
Place of Publication | Piscataway, NJ, USA |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 308-315 |
ISBN (Electronic) | 9781509018895 |
DOIs | |
Publication status | Published - 2016 |
Event | ITSC 2016: 19th International Conference on Intelligent Transportation Systems - Rio de Janeiro, Brazil Duration: 1 Nov 2016 → 4 Dec 2016 Conference number: 19 |
Conference
Conference | ITSC 2016: 19th International Conference on Intelligent Transportation Systems |
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Abbreviated title | ITSC 2016 |
Country/Territory | Brazil |
City | Rio de Janeiro |
Period | 1/11/16 → 4/12/16 |
Bibliographical note
Accepted Author ManuscriptFingerprint
Dive into the research topics of 'Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy'. Together they form a unique fingerprint.Datasets
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Matlab code for Full Range Adaptive Cruise Control with Integrated Collision Avoidance Strategy
Wang, M. (Creator) & Mullakkal-Babu, F. A. (Creator), TU Delft - 4TU.ResearchData, 22 Mar 2021
DOI: 10.4121/14248667, https://doi.org/10.1109/ITSC.2016.7795572
Dataset/Software: Dataset