Navigation-based speed profile generation for an open road speed assistant
Navigation-based speed profile generation for an open road speed assistant
复制标题
基于导航的速度曲线生成，用于开放道路速度助手
DOI：
10.3182/20090902-3-us-2007.0112
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
M. Basset
中科院分区：
文献类型：
--
作者：
Jérémie Daniel;G. Pouly;A. Birouche;Jean;M. Basset
摘要 本文提出了一种基于导航的纵向高级驾驶员辅助系统，旨在实时适应车辆速度，以确保乘客的安全和舒适。数字地图数据库提供有关即将到来的道路的信息，以便计算特定的样条轨迹。后者可以确定安全且舒适的速度曲线。该控制基于有限状态机和 PID 控制器的组合。使用改进的速度曲线以及前视距离和速度容差，考虑与执行器、传感器或车辆动力学相关的约束。实时验证表明所提出的解决方案给出了令人满意的结果。
Abstract This paper presents a navigation-based Advanced Driver Assistance System for a longitudinal application which aims to adapt, in real-time, the vehicle speed, so as to ensure the passengers' safety and comfort. A digital map database provides information about the upcoming road so that a specific Spline trajectory can be calculated. The latter allows the determination of a safe and comfortable speed profile. The Control is based on the combination of a finite state machine and a PID controller. Constraints linked to the actuators, the sensors or the vehicle dynamics are taken into account, using an improved speed profile combined with a look ahead distance and a speed tolerance. The real time validation shows that the proposed solution gives satisfactory results.