ACC+Stop&amp;Go Maneuvers With Throttle and Brake Fuzzy Control

Naranjo, José Eugenio; González, Carlos; Garcia, Ricardo Alexandrino; Pedro, Teresa de

doi:10.1109/tits.2006.874723

Cited by 158 publications

(77 citation statements)

References 29 publications

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“…The aims of the high-level layer of the architecture are to evaluate the necessity and the possibility of overtaking and to switch from one lowlevel controller to the other when appropriate. Speed control is also autonomously managed, keeping the vehicle either at the right speed (cruise control) or at a safe distance from the lead vehicle when overtaking is not possible (ACC) [25]. The main sensorial information is obtained from a high-precision Global Positioning System (GPS) and a wireless communication system.…”

Section: Lane-change Fuzzy Control In Autonomousmentioning

confidence: 99%

Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver

Naranjo

González²,

Garcia³

et al. 2008

IEEE Trans. Intell. Transport. Syst.

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364

144

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Abstract-The automation of the overtaking maneuver is considered to be one of the toughest challenges in the development of autonomous vehicles. This operation involves two vehicles (the overtaking and the overtaken) cooperatively driving, as well as the surveillance of any other vehicles that are involved in the maneuver. This operation consists of two lane changes-one from the right to the left lane of the road, and the other is to return to the right lane after passing. Lane-change maneuvers have been used to move into or out of a circulation lane or platoon; however, overtaking operations have not received much coverage in the literature. In this paper, we present an overtaking system for autonomous vehicles equipped with path-tracking and lane-change capabilities. The system uses fuzzy controllers that mimic human behavior and reactions during overtaking maneuvers. The system is based on the information that is supplied by a high-precision Global Positioning System and a wireless network environment. It is able to drive an automated vehicle and overtake a second vehicle that is driving in the same lane of the road.Index Terms-Fuzzy control, hybrid control, intelligent control, proportional-integral differential (PID) control, road vehicle control.

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Section: Lane-change Fuzzy Control In Autonomousmentioning

confidence: 99%

Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver

Naranjo

González²,

Garcia³

et al. 2008

IEEE Trans. Intell. Transport. Syst.

Self Cite

364

144

View full text Add to dashboard Cite

show abstract

“…The characteristics of R and V DOT are modeled using two neuro-fuzzy estimators. A simulated driver is chosen which is capable to start, stop and follow the preceding car by controlling both the brake and accelerator very similar to a human driver in generating complex control actions [5]. The driver follows constant time headway with a zero speed range margin.…”

Section: Observations and Resultsmentioning

confidence: 99%

“…Some linear-driving model focuses only stopping, or starting behavior [4]. But the nonlinear model such as neural network, Neuro-Fuzzy, etc, can represent both the steady and transient behavior of a vehicle driver [5]. Some driving models mainly focus other situations such as behavior at emerging situations, lane keeping, and steering control.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive driving behavior model for intelligent transportation systems

Kamal

Raisuddin

Wahyudi

et al. 2008

2008 International Conference on Computer and Communication Engineering

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“…In [7] it has been shown that adaptive cruise control has advantages for safety problem of collision avoidance system. ACC problem has been studied via various control theories and just few of them are listed in what follows: an ACC controller based on fuzzy logic has been researched to keep a safe distance to the vehicle ahead [8,9]. The stability problem of traffic flow has been addressed in [10] when ACC system with constant time-gap policy between vehicles is operated.…”

Section: Introductionmentioning

confidence: 99%

Design of Autonomous Cruise Controller with Linear Time Varying Model

Chang¹,

Yoon²,

Lee³

et al. 2015

Journal of Electrical Engineering and Technology

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-Cruise control is a technology for automatically maintaining a steady speed of vehicle as set by the driver via controlling throttle valve and brake of vehicle. In this paper we investigate cruise controller design method with consideration for distance to vehicle ahead. We employ linear time varying (LTV) model to describe longitudinal vehicle dynamic motion. With this LTV system we approximately model the nonlinear dynamics of vehicle speed by frequent update of the system parameters. In addition we reformulate the LTV system by transforming distance to leading vehicle into variation of system parameters of the model. Note that in conventional control problem formulation this distance is considered as disturbance which should be rejected. Consequently a controller can be designed by pole placement at each instance of parameter update, based on the linear model with the present system parameters. The validity of this design method is examined by simulation study.

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ACC+Stop&Go Maneuvers With Throttle and Brake Fuzzy Control

Cited by 158 publications

References 29 publications

Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver

Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver

Comprehensive driving behavior model for intelligent transportation systems

Design of Autonomous Cruise Controller with Linear Time Varying Model

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