Robust EMRAN-aided coupled controller for autonomous vehicles

Debarshi, Sauranil; Sundaram, Suresh; Sundararajan, N.

doi:10.1016/j.engappai.2022.104717

Cited by 6 publications

(1 citation statement)

References 33 publications

(33 reference statements)

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“…A proportional-integral-derivative (PID) control algorithm widely-used for the commercially deployed ACC system [26,27] is offered and modularized by Simulink, and it is validated, in the PreScan's built-in demo files, through ten typical ACC real-life scenarios and eight test scenarios specified by ISO test protocols [22]. For example, the leading car drives ahead of V-ACC in the same tangent lane and performs braking and acceleration maneuvers (real-life scenarios); V-ACC follows the leading car on a circular curve at a constant speed, but the leading car decelerates (test scenarios in protocols).…”

Section: Validationmentioning

confidence: 99%

Implications of As-built Highway Horizontal Curves on Vehicle Dynamic/Kinematic Characteristics Under Adaptive Cruise Control

Wang,

Lai,

Qiu

et al. 2023

Preprint

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Due to the presence of the road’s curvature and sensors’ limited field of view, as-built highway curves designed based on traditional human-driven vehicles’ characteristics pose a challenge to the adaptive cruise control (ACC) system and its shared control. However, very few efforts in the literature were expended on exploring the adaptability of the ACC system-dedicated vehicle (V-ACC) from the perspective of vehicle-road geometry interaction. Therefore, the objectives of this study are threefold: (i) to investigate the implications of existing horizontal curves on V-ACC dynamic and kinematic characteristics; (ii) to unravel the impact mechanism of curve geometric features; and (iii) to evaluate the ACC system’s adaptability from different aspects and extract the critical curve geometric features. To this end, a virtual co-simulation platform was established and validated by the OpenACC database. A series of tests featuring circular curve radius (RC), desired speed (Vde), and desired clearance were created, and V-ACC characteristics were output. The results show that: (i) a smaller RC causes V-ACC characteristics toward the margins of safety, comfort, and speed consistency, but neither sideslip nor rollover occurs, and speed consistency is good; (ii) the driver and passengers (if any) feel comfortable at Vde = 40, 80-100 km/h following the leading car, but they may feel ‘moderately uncomfortable’ at Vde = 50-70 km/h when RC decreases toward its lower limit; and (iii) asymmetrical maneuvers and discomfort would exist before and after the circular curve. These findings could help road administrators regulate V-ACC’s behaviors and improve its road-oriented operation design domain.

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Section: Validationmentioning

confidence: 99%