Abstract
In this paper, a set of longitudinal velocity and distance controllers with switching logic is proposed for an active driver safety system, and validation via hardware-in-the-loop simulation (HILS) is presented. Since the desired velocity and distance are given discretely and arbitrarily by a driver, there are usually discontinuities or discrete jumps between the desired and current vehicle state immediately after the switching. To minimize performance degradation resulting from this discrete jump, dynamic surface control (DSC) with an input-shaping filter is applied for both velocity and distance control. Furthermore, while much cost and effort are usually necessary for the experimental validation of a longitudinal controller, the validation of the longitudinal controller via HILS is performed with a minimum of effort. In the HILS, the various switching scenarios and desired discrete inputs in terms of velocity and distance are considered and the corresponding performance of the controller is shown in the end.
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Abbreviations
- α :
-
acceleration pedal position [%]
- β :
-
brake pedal position [%]
- δ :
-
throttle angle [rad]
- ν :
-
velocity of the vehicle [m/s]
- ν des :
-
desired velocity [m/s]
- ν prec :
-
velocity of the preceding vehicle [m/s]
- R :
-
range [m]
- \( \dot R \) :
-
range rate (i.e., \( \dot R \)=ν prec -ν) [m/s]
- T h :
-
time-headway (i.e., T h =R/ν) [sec.]
- ω e :
-
engine speed [rad/s]
- T e :
-
engine torque [Nm]
- T ect :
-
minimum engine torque with zero throttle [Nm]
- T b,max :
-
maximum braking torque [Nm]
- F r :
-
rolling resistance force [N]
- F a :
-
aerodynamic drag force [N]
- F b :
-
braking force [N]
- F g :
-
climbing resistance force [N]
- m :
-
vehicle mass [kg]
- k roll :
-
rolling resistance coefficient
- k air :
-
aerodynamic drag coefficient
- g :
-
acceleration of gravity [m/s2]
- A :
-
front area of vehicle [m2]
- θ :
-
road grade [rad]
- h :
-
effective wheel radius [m]
- R g :
-
effective gear ratio
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Baek, W., Song, B. Design and validation of a longitudinal velocity and distance controller via hardware-in-the-loop simulation. Int.J Automot. Technol. 10, 95–102 (2009). https://doi.org/10.1007/s12239-009-0012-6
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DOI: https://doi.org/10.1007/s12239-009-0012-6