Seite - (000019) - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

Symbols In this work, variables and parameters are noted using 4 1X 3 2, where the symbol could be a scalarx, a vector x or a maxrix X. The indices describe 1. the coordinate system in which the quantity is defined, 2. the index describing the instance, 3. the exponent or the transposition operator T for vectors and matrices and 4. the iterationsteporthepointofapplication,which is intheoriginof thecoordinate system, if it is not given. Coordinate Systems (0x,0y,0z) The global coordinate system has its origin on the ground plane, and the 0z-axis is perpendicular to it. (vx,vy,vz) The vehicle coordinate system has its origin in the vehicle CG, the vx-axis is along the longitudinal direction of the vehicle body, and the vy-axis is along the lateral direction of the body. (βx,βy,βz) Thebeta coordinate system has itsoriginatvehicleCG,theβx-axis is in the direction of the speed vector, and the βz-axis is parallel to the 0z-axis. (sx,sy,sz) The sensor coordinate system is described in the context used. (wx,wy,wz) The wheel coordinate system has its origin in theW-point, and thewz-axis is parallel to the 0z-axis. Thewx andwy-axes are the projections of the cx and cy-axes along the wz direction onto the groundplane. Theadditional indicesfl,fr, rrandrldescribe the position of the wheels on the vehicle, which are described below. (cx,cy,cz) The wheel centre coordinate system has its origin in theC-point, the cy-axis is in the direction of the rotation axis of the wheel, and the cx-axis is parallel to the ground plane. It uses the same additional indices for the position of the wheels mounted on the vehicle as the wheel coordinate system. (s,u) Thenaturalpath coordinate system measuressalongthetrajectory of the CG and u perpendicular (mathematical positive rotation angle around 0z-axis) to it. The origin is the vehicle CG.