Page - 79 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

6.2. ACC Controller Parameter Identification =1.174ssetτ=1.978m,0sapproximate: measurement 0 0 20 20 40 40 60 80 10 30 50 [m/s]xvv Figure 6.8.: Measureddistances srOTF overvehiclevelocity vvx for theconstant following scenario and identified distance law sset according to eq. (2.22) 6.2.3. Dynamic Following Scenario The rest of the scenarios are selected to identify the ACC controller parametersP1 to P4. To this end, an optimization problem is formulated using the simplified longitudinal vehiclemodel of eq. (2.26). The longitudinalmotionof theOTFin theglobal coordinate system at time step tk is determined from the measurements reading[ 0sOTF,k 0vOTF,k ] ︸ ︷︷ ︸ 0xOTF,k = [ vsx,k vvx,k ] + [ srOTF,k sr˙OTF,k ] , (6.16) where the longitudinal position of the ego vehicle is calculated using the measured speed signal, vsx,k = ∫ tk 0 vvxdt. The initial condition of the vehicle model of eq. (2.26) is generated out of the measurements reading x˜0 =   0vvx,0 vax,0   . (6.17) 79