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Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives
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Contents 2.4.3.2. Model Predictive Control . . . . . . . . . . . . . . . . . . 29 2.4.3.3. Fuzzy Control . . . . . . . . . . . . . . . . . . . . . . . . 31 2.4.3.4. Sliding Mode Controller . . . . . . . . . . . . . . . . . . . 33 2.4.4. Comparison of the Upper Level Controllers . . . . . . . . . . . . . 35 2.5. Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.5.1. Drive Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.5.2. Brake Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3. Development Process 39 3.1. Full-Vehicle Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.2. System and Component Levels . . . . . . . . . . . . . . . . . . . . . . . . 42 4. Measurements 45 4.1. Measurement Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.2. Side Slip Angle Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.3. Test Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5. Selection of the Object to Follow 55 5.1. Path Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.1.1. Path Prediction Using Constant Curvature Hypothesis . . . . . . . 56 5.1.2. Path Prediction Using Linear Single-Track Model . . . . . . . . . . 59 5.1.3. Path Prediction the Using Non-Constant Steering Angle Hypothesis 60 5.1.4. Evaluation of Path Prediction Algorithms . . . . . . . . . . . . . . 61 5.2. Natural Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.3. Object Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.3.1. In-Path Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.3.1.1. Constant Path Width . . . . . . . . . . . . . . . . . . . . 67 5.3.1.2. Non-Constant Path Width . . . . . . . . . . . . . . . . . 67 5.3.2. Priority Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.3.3. Comparison of Object Selection Algorithms . . . . . . . . . . . . . 69 6. Upper Level Controller Parameter Identification 71 6.1. Non-Linear Time Gap Controller . . . . . . . . . . . . . . . . . . . . . . . 71 6.2. ACC Controller Parameter Identification . . . . . . . . . . . . . . . . . . . 73 6.2.1. Standstill Situation . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.2.2. Constant Following Scenario . . . . . . . . . . . . . . . . . . . . . 76 6.2.3. Dynamic Following Scenario . . . . . . . . . . . . . . . . . . . . . . 79 6.3. Validation of the Identified Parameters . . . . . . . . . . . . . . . . . . . . 82 6.3.1. String Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 6.3.2. Simplified Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 6.3.3. Full-Vehicle Model with ACC Measurements . . . . . . . . . . . . 85 7. Summary and Conclusion 89 xii
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Integration of Advanced Driver Assistance Systems on Full-Vehicle Level Parametrization of an Adaptive Cruise Control System Based on Test Drives
Title
Integration of Advanced Driver Assistance Systems on Full-Vehicle Level
Subtitle
Parametrization of an Adaptive Cruise Control System Based on Test Drives
Author
Stefan Bernsteiner
Publisher
Verlag der Technischen Universität Graz
Location
Graz
Date
2016
Language
English
License
CC BY 4.0
ISBN
978-3-85125-469-3
Size
21.0 x 29.7 cm
Pages
148
Category
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Integration of Advanced Driver Assistance Systems on Full-Vehicle Level