Seite - 24 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

2. Adaptive Cruise Control CG CG xv zv zs xs xv xs ysyv y0 x0 x0 z0 0 0 S S xw xc yc yw zwzc C W (a) (b) Figure 2.15.: (a)Global, vehicle and sensor coordinate systemsand(b)wheel coordinate systems, both adapted from [HW10] and [Deu94] xv zv Bm fI,fm rI,rm β fr rr βfF βrF fW rW rC rC fC fC xvv βBF xFcf2 xFcf xFcr2 xFcr xFwr xFwf xvcf xvcr CG yTcf yrTcf yrTcry Tcr yωcr yωcf aF Figure 2.16.: Kinetic quantities in the longitudinal direction, adapted from [HW10] forces cfFx and crFx act between the vehicle body and the wheels in the longitudinal direction. The same is done for one wheel of the front axle and one wheel of the rear axle. The linear momentum results in mj cv˙xj=wjFx− cjFx−Fβj, (2.15) 24