Design of Longitudinal Controller for Automated Driving Bus
Design of Longitudinal Controller for Automated Driving Bus
- New search for: Ando, Takayuki
- Further information on Ando, Takayuki:
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https://orcid.org/http://orcid.org/0000-0001-7442-1893
- New search for: Zhou, Yongkang
- New search for: Momiyama, Fujio
- New search for: Aoki, Keiji
- New search for: Yang, Bo
- New search for: Nakano, Kimihiko
- New search for: Ando, Takayuki
- Further information on Ando, Takayuki:
-
https://orcid.org/http://orcid.org/0000-0001-7442-1893
- New search for: Zhou, Yongkang
- New search for: Momiyama, Fujio
- New search for: Aoki, Keiji
- New search for: Yang, Bo
- New search for: Nakano, Kimihiko
This paper describes the design of a longitudinal controller for an automated driving bus, which is expected to be a transportation method of the future. A linear longitudinal model is presented by approximating an aerodynamic drag force and rolling resistance force in a low speed range. Then, the feedback gains of a proportional integral (PI) controller for considering the longitudinal grade of the road are determined using a root locus method, with a constraint derived from the Chien–Hrones–Reswick method. A traffic light is predicted by the vehicle, so as to pass a signalized intersection smoothly. Further, a novel adaptive cruise control method is proposed for the automated driving bus, to reduce the acceleration of the vehicle. The performance of the controller is validated through pilot tests on public roads.
Document information
Design of Longitudinal Controller for Automated Driving Bus
Int. J. ITS Res.
International Journal of Intelligent Transportation Systems Research ; 18 , 3 ; 436-450
2020-09-01
15 pages
Article (Journal)
Electronic Resource
English
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