An Improved Multi-Object Adaptive Cruise Control Approach

Schrödel, Frank; Herrmann, Patrick; Schwarz, Norman

doi:10.1016/j.ifacol.2019.08.067

Cited by 5 publications

(3 citation statements)

References 8 publications

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“…In ABSOLUT, a model predictive control approach as outlined in [32] is used to solve this path-following problem. Furthermore, an adaptive cruise control (ACC) controller as described in [33] is used to follow dynamic objects.…”

Section: Planning and Actingmentioning

confidence: 99%

ABSOLUT - An Automated Shuttle Bus between Leipzig Exhibition Area and BMW-Terminal

Beierlein,

Schroer,

Graef

et al. 2023

Preprint

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Public Transportation Operators face several challenges to providing efficient mobility services especially in sub-urban environments. Undoubtedly the task of deploying a self-driving shuttle into an existing public transport system on public roads can be regarded as a major challenge for contemporary automated driving systems. ABSOLUT focuses on narrowing this gap by connecting the Leipzig Trade Fair Area with the BMW plant in Leipzig on a 15 km long route being the first project in Germany to provide a self driving shuttle operating at velocities up to 70 km/h in real traffic. The project closes with four weeks of testing with real passengers showing the capabilities of the vehicle and providing insights on future developments. The article provides an overview on the system architecture employed and focuses on the automated driving system based on the Robot Operating System and the Automotive Data and Time-Triggered Framework. To ensure reliable operation in diverse conditions a redundant sensor concept with GNSS, LiDaR, Camera and Radar is introduced. Furthermore the article discusses the shuttles localization and state estimation system. As the route contains a high variability of driving environments a combined GNSS/INS/LiDaR fusion system with additional failure detection module is employed. To approve the shuttle for driving in public traffic a stepwise process is defined in close collaboration with regulatory agencies.

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Section: Planning and Actingmentioning

confidence: 99%

ABSOLUT - An Automated Shuttle Bus between Leipzig Exhibition Area and BMW-Terminal

Beierlein,

Schroer,

Graef

et al. 2023

Preprint

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show abstract

“…A reliable and computationally efficient cascade controller is designed with PD. 68 The inner ring and outer ring determine the desired acceleration and desired velocity respectively as shown in the formula 1 and formula 2. K p 1 and K d 1 respectively represent the proportional coefficient and integral coefficient of the outer ring.…”

Section: Classic Accmentioning

confidence: 99%

A review of the development trend of adaptive cruise control for ecological driving

Pan

Huang

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Adaptive cruise control (ACC) is an important part of the advanced driver assistance system (ADAS), which aims to improve the user’s driving experience by reducing their manual operation and optimizing the vehicles’ performance such as economy, comfort, and safety. With the gradual maturity of research on ACC, it presents various development trends. Among them, ecological adaptive cruise control (EACC) has great development potential in reducing emissions and improving driving range in internal combustion engine vehicles (ICEVs), hybrid electric vehicles (HEVs), and electric vehicles (EVs). This paper firstly reviews the components of classic ACC. Then the main design methods, research hotspots, and development trends of EACC for HEVs and EVs are introduced in detail. This paper not only provides a comprehensive analysis of EACC design and application in different type of vehicles but also forecasts the future research direction and trend, expecting to promote the further development of EACC efficiently.

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“…By processing and calculating the real-time state information and environmental information of the vehicle, this module can plan the most reasonable vehicle movement state and send it to the execution control module [5]. e most critical parts for the ACC, the planning and decision-making module, need to decide the optimal control target according to the relative motion state between the host vehicle and the target vehicle: expected longitudinal acceleration or distance [6]. So far, the decision algorithms of the ACC mainly have the following forms: PID feedback control, model predictive control, fuzzy logic control, and optimal control [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Cruise Control Strategy Design with Optimized Active Braking Control Algorithm

Zou

et al. 2020

Mathematical Problems in Engineering

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The braking quality is considered as the most important performance of the adaptive control system that influences the vehicle safety and ride comfort remarkably. This research is aimed at designing an adaptive cruise control (ACC) system based on active braking algorithm using hierarchical control. Taking into account the vehicle with safety and comfort, the upper decision-making controller is designed based on model predictive control algorithm. Throttle controller and braking controller are designed with feedforward and feedback algorithms as the bottom controller, where the braking controller is designed based on the hydraulic braking model. The whole model is simulated collaboratively with Amesim, Carsim, and Simulink. By comparison with the full deceleration model, the results show that the proposed algorithm can not only make the vehicle maintain a safe distance under the premise of following the target vehicle ahead effectively but also provide favorable driving comfort.

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An Improved Multi-Object Adaptive Cruise Control Approach

Cited by 5 publications

References 8 publications

ABSOLUT - An Automated Shuttle Bus between Leipzig Exhibition Area and BMW-Terminal

ABSOLUT - An Automated Shuttle Bus between Leipzig Exhibition Area and BMW-Terminal

A review of the development trend of adaptive cruise control for ecological driving

Adaptive Cruise Control Strategy Design with Optimized Active Braking Control Algorithm

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