A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios

John Jairo Martinez Molina 1 Carlos Canudas de Wit 2
1 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : In this paper, we propose a novel reference model-based control approach for automotive longitudinal control. The reference model is nonlinear and provides dynamic solutions consistent with safety constraints and comfort specifications. The model is based on physical laws of compliant contact and has the particularity that its solutions can be explicitly described by integral curves. This allows to characterize the set of initial condition for which the constraints can be met. This model is combined with a simple feedback loop used to compensate unmodeled dynamics and external disturbances. Model simulations together with experimental results are also presented.
Type de document :
Article dans une revue
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2007, 15 (2), pp.246-258. 〈10.1109/TCST.2006.886432〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00123091
Contributeur : John Jairo Martinez Molina <>
Soumis le : lundi 8 janvier 2007 - 11:50:54
Dernière modification le : mercredi 11 avril 2018 - 01:59:02

Identifiants

Citation

John Jairo Martinez Molina, Carlos Canudas de Wit. A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2007, 15 (2), pp.246-258. 〈10.1109/TCST.2006.886432〉. 〈hal-00123091〉

Partager

Métriques

Consultations de la notice

441