Page - II - 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 3.2. Measurements for manoeuvre“Approach on slower moving target in the same lane”, adapted from [Hol12] and [BHLSE13] . . . . . . . . . . . . . . 42 4.1. Coordinate systems for the measurements . . . . . . . . . . . . . . . . . . 46 4.2. Schematic measurement setup . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.3. Weight functionswβA andwβˆ for the combined side slip angleβ . . . . . 50 4.4. Comparison of observer results and measurements . . . . . . . . . . . . . 52 4.5. Test route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.6. (a) Combined longitudinal and lateral accelerations and (b) velocity dis- tribution for the measurements of the basic and the proband studies . . . 54 5.1. Coordinate systems at all four wheels of the vehicle . . . . . . . . . . . . . 57 5.2. Estimated trajectories using a parabola, a circle, a linear STM and the measured path at the initial time tk and at time tk+ i∆t . . . . . . . . . 60 5.3. Steering wheel angle δSW and steering wheel velocity δ˙SW measurements and predicted values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 5.4. Natural coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.5. Calculation of natural coordinates . . . . . . . . . . . . . . . . . . . . . . 66 5.6. (a)Specialcaseofeq. (5.39)and(b)non-constantpathwidthbas function of s, as described in eq. (5.41) . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.7. PriorityP (s,u) of eq. (5.43) for parametersP0 = 1,PL= 0.7 andPb= 0.01 for the two cases (a)n= 2 and (b)n= 8 . . . . . . . . . . . . . . . . 69 5.8. Situation with two objects . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 6.1. Platoon of vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 6.2. Simulations for a platoon of 24 vehicles with the parameters (a)P4 = 1 1.5 andP3 = 2.5 and (b)P3 = 0.25 andP4 = 0.2 . . . . . . . . . . . . . . . . 74 6.3. Comparison of the segmented controllers proposed in [WDS09] and eq. (6.9) 75 6.4. Steps in parameter identification . . . . . . . . . . . . . . . . . . . . . . . 75 6.5. Example of an incorrectly identified standstill situation . . . . . . . . . . 76 6.6. Histogram for filtered and unfiltered s0 . . . . . . . . . . . . . . . . . . . . 77 6.7. Projection of an object onto the human retina, adapted from [FBE01] . . 78 6.8. Measured distances srOTF over vehicle velocity vvx for the constant fol- lowing scenario and identified distance law sset according to eq. (2.22) . . 79 6.9. Transformation rule for either upper or lower bounds or both upper and lower bounds ofPi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.10.Parameter histories for the executed iteration steps . . . . . . . . . . . . . 83 6.11.Simulations for a platoon of 100 vehicles with the parameters listed in eq. (6.31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 6.12.Comparison of measurements and simulation with parameters of eq. (6.31) 86 6.13.Comparison of measurements of an ACC-equipped vehicle and simulation with parameters of eq. (6.31) . . . . . . . . . . . . . . . . . . . . . . . . . 87 B.1. Single-Track Model, [HW10] . . . . . . . . . . . . . . . . . . . . . . . . . . 98 II