Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

Design and analysis of full range adaptive cruise control with integrated collision a voidance strategy

Mullakkal-Babu, F.A. (TU Delft Transport and Planning)
Wang, M. (TU Delft Transport and Planning)
van Arem, B. (TU Delft Transport and Planning)
Happee, R. (TU Delft OLD Intelligent Vehicles & Cognitive Robotics)

Rosetti, R. (editor)
Wolf, D. (editor)

Transport and Planning

2016

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.

http://resolver.tudelft.nl/uuid:65c6b86f-b571-4ed6-8d03-97bd57e92c53

https://doi.org/10.1109/ITSC.2016.7795572

Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA

9781509018895

Proceedings of the IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016

ITSC 2016: 19th International Conference on Intelligent Transportation Systems, 2016-11-01 → 2016-12-04, Rio de Janeiro, Brazil

Accepted Author Manuscript

Institutional Repository

conference paper

© 2016 F.A. Mullakkal-Babu, M. Wang, B. van Arem, R. Happee