Page - 83 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

6.3. Validation of the Identified Parameters iteration stepiteration step 1 100 2001 100 200 iteration step 1 100 200 1 100 2001 100 200 1 100 2001 100 200 1 100 2001 100 200 610·2 610·6 710·1 0.8 0.4 0 0.4 0.2 0 1.5 0.5 0 1 0.4 0.35 0.3 1.5 0.5 0 1 0.5− 1− 0.5 0 2− 0 2 2.5− 1.5− 0.5− Figure 6.10.: Parameter histories for the executed iteration steps 6.3.2. Simplified Model The parameter identification was performed with 456 manoeuvres with a minimum length of 10s and an overall length of 20679.6s. For the validation, simulations with the simplified longitudinal vehicle model of eq. (2.26) and the parameters identified for the ACC controller of eq. (6.9) were carried out. Figure 6.12 compares measurement and simulation results of the longitudinal vehicle speed vvx, the acceleration vax, the range srOTF, the range rate sr˙OTF and the inverse of the Time to Collision to the object to fol- lowTTC−1OTF for a manoeuvre. The simulated vehicle speed and acceleration match the recorded data very well. It is remarkable that the peak accelerations in the simulation 83