A Feedback Linearization Based Approach for Fully Autonomous Adaptive Cruise Control
A Feedback Linearization Based Approach for Fully Autonomous Adaptive Cruise Control
复制标题
基于反馈线性化的完全自主自适应巡航控制方法
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
M. Giorelli
中科院分区：
文献类型：
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作者：
A. Trotta;A. Cirillo;M. Giorelli
本文提出了一种新的方法来设计一个停止和去自适应巡航控制系统的自动驾驶汽车的特点是低计算成本和适合于实时运行在嵌入式微处理器上。该控制方案使用反馈线性化方法来处理系统的非线性，这允许使用线性控制技术，以保证尊重的安全距离，相对于在前方的目标车辆，在稳态和瞬态导航条件。此外，一个新的安全距离的形式化介绍，其有效性已被验证的仿真和道路。
This paper presents a novel approach to design a stop-and-go Adaptive Cruise Control system for autonomous vehicles featured by low computational cost and suitable for running in real-time on an embedded microprocessor. The control scheme uses feedback linearization approach to deal with system non-linearities, which allows the use of linear control techniques to guarantee the respect of the safety distance, with respect to the in front target vehicle, in both steady state and transient navigation conditions. Moreover, a new safety distance formalization is introduced and its effectiveness has been validated in simulation and on-road.