Dubin’s Curve of RRT* Merged With A*

Abstract

ACC (Adaptive Cruise Control) is a crucial technology to control the automatic driving of a vehicle, which can automatically adjust the driving status of the vehicle according to the driving status of the vehicle in front so that the vehicle always keeps a safe distance from the vehicle in front, which can primarily relieve the driver's driving pressure and avoid tailgating. The research is of great significance to the realization of intelligent driving of vehicles. In this paper, the fuzzy PID control method is used to study the vehicle ACC system. Firstly, the basic concept and key components of the ACC system are explained, the vehicle longitudinal dynamics model is established, and the primary ranges of , and parameters are determined through simulation; based on this, the fuzzy PID control algorithm of vehicle ACC is designed considering three different driving conditions of fixed speed and following cruise mode. The fuzzy PID control algorithm of the vehicle ACC system is designed and established. The joint simulation model of MATLAB is used to simulate the vehicle ACC system under three different driving conditions. The simulation results show that the vehicle ACC system designed in this paper ensures the safety and stability of following the vehicle while providing the vehicle's ride's comfort.

Research on a Multimode Adaptive Cruise Control Strategy with Emergency Lane-Changing Function

“…The vehicle can essentially maintain −2-2 m/s 3 under other working conditions, except for the ephemeral discomfort during acceleration and emergency braking (see Figure 21). Compared to a single ACC longitudinal control strategy [11][12][13][14][15][16], the designed control strategy can avoid collisions in both vertical and horizontal directions, greatly improving the vehicle's ability to avoid danger.…”

“…(3) MPC-based acc control algorithm design According to Equation (11), the prediction equation within the prediction horizon is established, e x (k) defined as the error between the actual state quantity and the predicted value and W(k + p) defined as the set of disturbance quantities. Assuming equal values at each moment, the expression is rectified by…”

“…The inverse model has long been mainly utilized to track and control the outputs of upper-level controllers [5,6], and the relative velocity and distance between two vehicles have been adopted to partition the switching strategy in the lower-level controller [7,8]. Amid the above control algorithms, PID [9][10][11], LQR [12][13][14], and MPC [15][16][17] have been comprehensively researched and applied in ACC systems.…”

Role of Teacher Competence to Implement the Independent Curriculum

“…As a matter of fact, educators in the era of learning independence were educators who implemented the 2013 Curriculum, namely authentic learning, so that educators were willing to be "authentic teachers" (Abdurohman et al, 2022). The role of educators is not only in the learning process, but also in assessment.…”