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http://dx.doi.org/10.12815/kits.2022.21.3.73

Development of Longitudinal Algorithm to Improve Speed Control and Inter-vehicle Distance Control Acceptability  

Kim, Jae-lee (Dept. of Electronic engineering Korea National Univ, of Transportation)
Park, Man-bok (Dept. of Electronic engineering Korea National Univ, of Transportation)
Publication Information
The Journal of The Korea Institute of Intelligent Transport Systems / v.21, no.3, 2022 , pp. 73-82 More about this Journal
Abstract
Driver acceptance of autonomous driving is very important. The autonomous driving longitudinal controller, which is one of the factors affecting acceptability, consists of a high-level controller and a low-level controller. The host controller decides the cruise control and the space control according to the situation and creates the required target speed. The sub-controller performs control by creating an acceleration signal to follow the target speed. In this paper, we propose an algorithm to improve the inter-vehicle distance fluctuations that occur in the cruise control and space control switching problems in the host controller. The proposed method is to add an approach algorithm to the cruise control at the time of switching from cruise control to space control so that it is switched to space control at the correct switching distance. Through this, the error was improved from 12m error to 4m, and actual vehicle verification was performed.
Keywords
Autonomous vehicle longitudinal controller; Upper-level controller; Approach algorithm; Headway fluctation;
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