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

List of Figures 1.1. Fatalities from 1991 until 2013 and forecast for 2020 for the EU 28, adapted from [Eur14a] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1. Traffic System, adapted from [Don09] . . . . . . . . . . . . . . . . . . . . 10 2.2. Sensor quantities for object i, including FOV of the sensor . . . . . . . . . 11 2.3. Emitted and received pulses of a Pulsed Doppler RADAR, adapted from [Men99] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4. Three generic frequency signalsf (t), according to eq. (2.3), adapted from [Win09] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.5. Generic r-r˙ plane for FMCW RADAR, adapted from [Win09] . . . . . . . 13 2.6. Distance measurement through phase comparison, adapted from [Men99] 14 2.7. Monopulse priciple, adapted from [Win09] . . . . . . . . . . . . . . . . . . 15 2.8. (a) Signals received by Tx1 and Tx2 and (b) error signal of eq. (2.8), (a) and (b) forϕ1<ϕ2, both adapted from [Mah88] . . . . . . . . . . . . . . 16 2.9. (a) Scanning RADAR and (b) Multi-Beam RADAR, adapted from [Win09] 17 2.10. (a) Projection of an object onto the imager and (b) stereo principle, adapted from [SBD09] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.11. (a) Fixed multi beam LIDAR sensor and (b) Scanning LIDAR sensor, adapted from [Ged09] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 2.12.Maximum deceleration according to ISO 22179 [Tec09] . . . . . . . . . . . 21 2.13.Trajectory according to limits defined in (a) ISO 15622 [Tec10] and (b) ISO 22179 [Tec09] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.14.ACC controller structure, adapted from [WWL+04] . . . . . . . . . . . . . 23 2.15. (a)Global,vehicleandsensorcoordinatesystemsand(b)wheelcoordinate systems, both adapted from [HW10] and [Deu94] . . . . . . . . . . . . . . 24 2.16.Kinetic quantities in the longitudinal direction, adapted from [HW10] . . 24 2.17.Drive trainandbrakecontroller, adapted from[XZ12], andextendedwith an anti-windup functionality, [HD04] . . . . . . . . . . . . . . . . . . . . . 27 2.18.MPC optimization at time step k, adapted from [Ali10] . . . . . . . . . . 30 2.19. (a)Membership functionsµand(b) resultingoutputades fora fuzzyACC lower level controller of [Ga¨c12] . . . . . . . . . . . . . . . . . . . . . . . . 32 2.20.Trajectory and sliding surface from the simulation in chapter 2.4.4 . . . . 34 2.21.Simulation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.1. V-Model, adapted from [Mau09] and [Rei12] . . . . . . . . . . . . . . . . . 40