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http://dx.doi.org/10.22680/kasa2022.14.1.039

Development of Throttle and Brake Controller for Autonomous Vehicle Simulation Environment  

Kwak, Jisub (서울대학교 기계공학부)
Yi, Kyongsu (서울대학교 기계공학부)
Publication Information
Journal of Auto-vehicle Safety Association / v.14, no.1, 2022 , pp. 39-44 More about this Journal
Abstract
This paper presents a development of throttle and brake controller for autonomous vehicle simulation environment. Most of 3D simulator control autonomous vehicle by throttle and brake command. Therefore additional longitudinal controller is required to calculate pedal input from desired acceleration. The controller consists of two parts, feedback controller and feedforward controller. The feedback controller is designed to compensate error between the actual acceleration and desired acceleration calculated from autonomous driving algorithm. The feedforward controller is designed for fast response and the output is determined by the actual vehicle speed and desired acceleration. To verify the performance of the controller, simulations were conducted for various scenarios, and it was confirmed that the controller can successfully follow the target acceleration.
Keywords
Autonomous driving; Longitudinal Control; Vehicle simulation; Low-level Controller;
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  • Reference
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