Cooperative Throttle and Brake Fuzzy Control for ACC$+$ Stop&Go Maneuvers
Cooperative Throttle and Brake Fuzzy Control for ACC$+$ Stop&Go Maneuvers
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DOI：
10.1109/tvt.2007.897632
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发表时间：
2007-07
影响因子：
6.8
通讯作者：
J. Naranjo;Carlos González;Ricardo García;T. D. Pedro
中科院分区：
文献类型：
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作者：
J. Naranjo;Carlos González;Ricardo García;T. D. Pedro
汽车自动驾驶的目标是遥远的未来，可能无法实现，但作为朝着这个方向迈出的第一步，自适应巡航控制（ACC）和停走操纵系统正在开发中。这些类型的控制器使一辆车的速度适应前一辆车的速度（ACC），并在领头车停下来的时候让车停下来。本文介绍了一个这样的系统和相关的实验上进行的真实的道路与真实的汽车。驾驶系统通过RTK DGPS设备获得其输入，并通过无线局域网链路将其位置相互通信。它输出信号控制油门和制动踏板上的压力。该控制系统是基于模糊逻辑，这是最好的处理过程复杂的驱动。两辆大规模生产的雪铁龙Berlingo电动货车已经安装了仪表，为它们提供了计算机控制的制动器和油门执行器，以实现类似人类的驾驶。实验结果表明，车辆的行为非常接近人类，能够适应驾驶突发事件，增加了驾驶的安全性，并允许与人工驾驶的汽车合作。
The goal that a car be driven autonomously is far in the future and probably unreachable, but as a first step in that direction, adaptive cruise control (ACC) and Stop&Go maneuver systems are being developed. These kind of controllers adapt the speed of a car to that of the preceding one (ACC) and get the car to stop if the lead car stops. This paper presents one such system and related experiments performed on a real road with real cars. The driving system gets its input via an RTK DGPS device and communicates its positions to one another via a wireless local area network link. It outputs signals controlling the pressure on the throttle and brake pedals. The control system is based on fuzzy logic, which is considered best to deal with processes as complex as driving. Two mass produced Citroen Berlingo electric vans have been instrumented, providing them with computer controlled actuators over the brake and the throttle to achieve human-like driving. The results of the experiments show that the behavior of the vehicles is very close to human and that they adapt to driving incidences, increasing the safety of the driving and permitting cooperation with manually driven cars.