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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 - GIPSA - Systèmes linéaires et robustesse
GIPSA-DA - Département Automatique
2 NECS - Networked Controlled Systems
GIPSA-DA - Département Automatique, Inria Grenoble - Rhône-Alpes
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.
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Contributor : John Jairo Martinez Molina <>
Submitted on : Monday, January 8, 2007 - 11:50:54 AM
Last modification on : Wednesday, May 13, 2020 - 4:16:03 PM



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⟩



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