Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

International Conference on Robotics and Mechantronics

机械制造;无线电电子学;计算机科学

Gao, H.B.^1 ; Zhang, X.Y.^2 ; Li, D.Y.^3 ; Liu, Y.C.^3

State Key Laboratory of Automotive Safety and Energy, Tsinghua University Beijing, China^1

Information Technology Center, Tsinghua University, Beijing, China^2

Institute of Electronic System Engineering, Beijing, China^3

关键词: A-stable;    Autonomous Vehicles;    Cloud modeling;    Different speed;    Dynamic robustness;    Self drivings;    Stability and tracking;    Stability control;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/320/1/012018/pdf
DOI  :  10.1088/1757-899X/320/1/012018

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.