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http://dspace.mediu.edu.my:8181/xmlui/handle/10261/3107| Title: | Adaptive Fuzzy Control for Inter-Vehicle Gap Keeping |
| Keywords: | Autonomous vehicles Longitudinal control Intelligent vehicles Field experiments Fuzzy logic Adaptive cruise control (ACC) Safe gap Stop&Go Platoon driving Wireless communications Intelligent transportation systems (ITS) |
| Publisher: | Institute of Electrical and Electronics Engineers |
| Description: | The authors are with the Industrial Computer Science Department, Instituto
de Automática Industrial (CSIC), La Poveda-Arganda del Rey, 28500 Madrid,
Spain. There is a broad range of diverse technologies under the generic topic of intelligent transportation systems (ITS) that holds the answer to many of the transportation problems. In this paper, one approach to ITS is presented. One of the most important research topics in this field is adaptive cruise control (ACC). The main features of this kind of controller are the adaptation of the speed of the car to a predefined one and the keeping of a safe gap between the controlled car and the preceding vehicle on the road. We present an ACC controller based on fuzzy logic, which assists the speed and distance vehicle control, offering driving strategies and actuation over the throttle of a car. The driving information is supplied by the car tachometer and a RTK differential GPS, and the actuation over the car is made through an electronic interface that simulates the electrical signal of the accelerator pedal directly to the onboard computer. This control is embedded in an automatic driving system installed in two testbed mass-produced cars instrumented for testing the work of these controllers in a real environment. The results obtained in these experiments show a very good performance of the gap controller, which is adaptable to all the speeds and safe gap selections. Manuscript received October 3, 2002; revised September 22, 2003. This work was supported in part by ORBEX, Experimental Fuzzy Computer Project, TIC 961393-C06 of the CICYT, ZOCO, basic infrastructure creation, IN 96-0118 of the CICYT, COVAN, Automatic Vehicle Control in Natural Environment, CAM 06T/042/9 of the Comunidad Autónoma de Madrid, GLOBO, GPS and Fuzzy Logic Vehicle Control, TAP 98-0781 of the CICYT. This work has been funded by the Projects: COVAN CAM 06T/042/96; ORBEX CICYT TIC 96/1393.c06-03; ZOCO CICYT IN 96-0118; GLOBO CICYT TAP 98-0813. The Guest Editor for this paper was P. A. Ioannou. Peer reviewed |
| URI: | http://dspace.mediu.edu.my:8181/xmlui/handle/10261/3107 |
| Other Identifiers: | IEEE Transactions on Intelligent Transportation Systems, vol. 4, nº 3, sept. 2003 http://hdl.handle.net/10261/3107 10.1109/TITS.2003.821294 |
| Appears in Collections: | Digital Csic |
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