Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396898
Yao Li, Yuhui Hu, Junqiang Xi
To overcome the difficulty on objective measurement of shift comfort of automatic mechanical transmission(AMT) , the feasibility and advantages of using second derivative of the transmission input shaft speed was confirmed to calculate the gear-shifting jerk. The calculation process of jerk was elaborated in more details and jerk nondimensionalization was performed for control necessity. Finally, the indirect measurement sampling period was determined by test methods. Vehicle tests show that the indirect measurement technology can be used for control feedback and objective evaluation of AMT.
{"title":"The indirect measurement technology of shift comfort for automatic mechanical transmission","authors":"Yao Li, Yuhui Hu, Junqiang Xi","doi":"10.1109/ICVES.2015.7396898","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396898","url":null,"abstract":"To overcome the difficulty on objective measurement of shift comfort of automatic mechanical transmission(AMT) , the feasibility and advantages of using second derivative of the transmission input shaft speed was confirmed to calculate the gear-shifting jerk. The calculation process of jerk was elaborated in more details and jerk nondimensionalization was performed for control necessity. Finally, the indirect measurement sampling period was determined by test methods. Vehicle tests show that the indirect measurement technology can be used for control feedback and objective evaluation of AMT.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134370353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396893
Zhan-Yao Gu, Yarsun Hsu, Chi-Ming Lee
FlexRay is a communication protocol that combines event- and time-triggered communication to increase the schedulability and flexibility of message scheduling in current car systems. Because safety and reliability are particularly crucial for automotive systems, the worst-case response times of signals transmitted by electronic control units must be under their deadlines. To increase the bandwidth utilization, the slotmultiplexing (SM) mechanism that is allowable in protocol specification was adopted to schedule messages offline in the dynamic segment of the FlexRay protocol, and this mechanism was also considered in the timing analysis. The proposed method was feasible to calculate worst-case response time of message under any bus load when considered slot-multiplexing. Then the approach was applied to a Society of Automotive Engineers benchmark to ensure that all messages were schedulable. The simulation results revealed that by using slot-multiplexing, only 17 identifiers were used, which was less than 23 identifiers that were needed when the slot-multiplexing was not considered. It also improved the schedulability of dynamic segment with up to 27% improvement in bus bandwidth utilization.
{"title":"Message scheduling and timing analysis for flexray dynamic segment by considering slot-multiplexing","authors":"Zhan-Yao Gu, Yarsun Hsu, Chi-Ming Lee","doi":"10.1109/ICVES.2015.7396893","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396893","url":null,"abstract":"FlexRay is a communication protocol that combines event- and time-triggered communication to increase the schedulability and flexibility of message scheduling in current car systems. Because safety and reliability are particularly crucial for automotive systems, the worst-case response times of signals transmitted by electronic control units must be under their deadlines. To increase the bandwidth utilization, the slotmultiplexing (SM) mechanism that is allowable in protocol specification was adopted to schedule messages offline in the dynamic segment of the FlexRay protocol, and this mechanism was also considered in the timing analysis. The proposed method was feasible to calculate worst-case response time of message under any bus load when considered slot-multiplexing. Then the approach was applied to a Society of Automotive Engineers benchmark to ensure that all messages were schedulable. The simulation results revealed that by using slot-multiplexing, only 17 identifiers were used, which was less than 23 identifiers that were needed when the slot-multiplexing was not considered. It also improved the schedulability of dynamic segment with up to 27% improvement in bus bandwidth utilization.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131763327","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396888
Reiki Kusakari, A. Nakamura, K. Ohno, M. Itami
In this paper, the positioning system using a direct sequence spread spectrum (DS/SS) inter-vehicle communication (IVC) scheme based on location oriented pseudo noise (PN) code allocation is considered. DS/SS-IVC scheme based on location oriented PN code allocation has a superiority in terms of that the interference of hidden terminal can mitigate. In this scheme, each vehicle determine the PN code based on the location that is estimated by GPS. However, in actuality, this location information is not perfect and this error cause a degradation of communication performance. In order to solve this problem, the positioning system of DS/SS-IVC scheme is studied in this paper. The successive interference cancellation (SIC) scheme, slotted ALOHA scheme with code sensing are applied so as to improve the positioning accuracy. Furthermore, the elimination of ranging data that have large ranging error is also proposed in this paper. By applying these schemes, the positioning accuracy can be improved.
{"title":"A study on positioning error correction of DS/SS-IVC based on location oriented PN code allocation","authors":"Reiki Kusakari, A. Nakamura, K. Ohno, M. Itami","doi":"10.1109/ICVES.2015.7396888","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396888","url":null,"abstract":"In this paper, the positioning system using a direct sequence spread spectrum (DS/SS) inter-vehicle communication (IVC) scheme based on location oriented pseudo noise (PN) code allocation is considered. DS/SS-IVC scheme based on location oriented PN code allocation has a superiority in terms of that the interference of hidden terminal can mitigate. In this scheme, each vehicle determine the PN code based on the location that is estimated by GPS. However, in actuality, this location information is not perfect and this error cause a degradation of communication performance. In order to solve this problem, the positioning system of DS/SS-IVC scheme is studied in this paper. The successive interference cancellation (SIC) scheme, slotted ALOHA scheme with code sensing are applied so as to improve the positioning accuracy. Furthermore, the elimination of ranging data that have large ranging error is also proposed in this paper. By applying these schemes, the positioning accuracy can be improved.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128771224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396908
Yanlei Gu, L. Hsu, S. Kamijo
Accurate and robust vehicle self-localization in the urban environment is a new challenge arising in the autonomous driving. GNSS positioning technique suffers from the effects of multipath and Non-Line-Of-Sight (NLOS) propagation in urban canyon. This paper proposes to employ an innovative GNSS positioning technique with the aid of 3D building map, to mitigate the error caused by multipath and NLOS. In addition, the road markings on road surface provide the significant visual information for driving, which can also be used for localization. Based on the lane marking detection, the lane keeping and changing behavior can be recognized and used for positioning. This paper integrates 3D-map-GNSS with vision-based road marking detection and 2D Map to reduce the vehicle positioning error. The experiment results demonstrate that the proposed method can provide sub-meter accuracy with respect to positioning error mean.
{"title":"Correction of vehicle positioning error using 3D-map- GNSS and vision-based road marking detection","authors":"Yanlei Gu, L. Hsu, S. Kamijo","doi":"10.1109/ICVES.2015.7396908","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396908","url":null,"abstract":"Accurate and robust vehicle self-localization in the urban environment is a new challenge arising in the autonomous driving. GNSS positioning technique suffers from the effects of multipath and Non-Line-Of-Sight (NLOS) propagation in urban canyon. This paper proposes to employ an innovative GNSS positioning technique with the aid of 3D building map, to mitigate the error caused by multipath and NLOS. In addition, the road markings on road surface provide the significant visual information for driving, which can also be used for localization. Based on the lane marking detection, the lane keeping and changing behavior can be recognized and used for positioning. This paper integrates 3D-map-GNSS with vision-based road marking detection and 2D Map to reduce the vehicle positioning error. The experiment results demonstrate that the proposed method can provide sub-meter accuracy with respect to positioning error mean.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129265414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396906
Mahdi Javanmardi, Yanlei Gu, E. Javanmardi, L. Hsu, S. Kamijo
Vehicle self-localization techniques, such as GNSS and Velodyne, can benefit greatly by accessing to an accurate 3D building map, especially in urban areas. Though, an accurate automatic 3D building map reconstruction is challenging in dense urban areas, in which buildings are located close to each other. In general, 3D building map can be generated from adding accurate height information of the building roofs to a detailed 2D map. But 2D building maps usually only provide footprint of the buildings which is not enough for 3D shape modeling of complicated buildings in urban areas such as Shinjuku, Tokyo, Japan. On the other hand, with the development of laser scanning technology, airborne laser scanning (ALS) has now become easily accessible for large scale 3D mapping. However, an automatic 3D map reconstruction using only airborne point cloud is not feasible for dense urban areas, because of the difficulty of defining boundary of each building individually. This paper presents an automatic 3D building map reconstruction technique which integrates airborne laser point cloud with 2D boundary map. Results from Shinjuku area is evaluated for the proposed technique.
{"title":"3D building map reconstruction in dense urban areas by integrating airborne laser point cloud with 2D boundary map","authors":"Mahdi Javanmardi, Yanlei Gu, E. Javanmardi, L. Hsu, S. Kamijo","doi":"10.1109/ICVES.2015.7396906","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396906","url":null,"abstract":"Vehicle self-localization techniques, such as GNSS and Velodyne, can benefit greatly by accessing to an accurate 3D building map, especially in urban areas. Though, an accurate automatic 3D building map reconstruction is challenging in dense urban areas, in which buildings are located close to each other. In general, 3D building map can be generated from adding accurate height information of the building roofs to a detailed 2D map. But 2D building maps usually only provide footprint of the buildings which is not enough for 3D shape modeling of complicated buildings in urban areas such as Shinjuku, Tokyo, Japan. On the other hand, with the development of laser scanning technology, airborne laser scanning (ALS) has now become easily accessible for large scale 3D mapping. However, an automatic 3D map reconstruction using only airborne point cloud is not feasible for dense urban areas, because of the difficulty of defining boundary of each building individually. This paper presents an automatic 3D building map reconstruction technique which integrates airborne laser point cloud with 2D boundary map. Results from Shinjuku area is evaluated for the proposed technique.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125135695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396904
Y. Hashimoto, Yanlei Gu, L. Hsu, S. Kamijo
With the rapid development of the techniques for autonomous driving and ADAS in the last decade, more advanced methods to understand pedestrian behavior are required. Crosswalks at intersections are the one of most hazardous where many accidents between turning-vehicles and pedestrians occur. In this paper, we present a method for estimating the pedestrian's intention to cross a signalized crosswalk or stop in front of it. The intention is crucial to not only the collision avoidance but also smooth traffic in the context of autonomous driving by reducing unnecessary risk margins. Regarding the behavioral flow of pedestrian: assessment, decision-making and physical movement, as a stochastic process, we construct a probabilistic model with the Dynamic Bayesian Network. It takes account of not only pedestrian physical states but also contextual information and integrates the relationship among them. By employing the particle filter as a Bayesian filtering framework, the model estimates the pedestrian state from signal information and pedestrian position measurements. Evaluation using experimental data collected in real traffic scene shows that the proposed model has an ability to detect the pedestrian intention to cross a crosswalk even when he/she is far from it.
{"title":"Probability estimation for pedestrian crossing intention at signalized crosswalks","authors":"Y. Hashimoto, Yanlei Gu, L. Hsu, S. Kamijo","doi":"10.1109/ICVES.2015.7396904","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396904","url":null,"abstract":"With the rapid development of the techniques for autonomous driving and ADAS in the last decade, more advanced methods to understand pedestrian behavior are required. Crosswalks at intersections are the one of most hazardous where many accidents between turning-vehicles and pedestrians occur. In this paper, we present a method for estimating the pedestrian's intention to cross a signalized crosswalk or stop in front of it. The intention is crucial to not only the collision avoidance but also smooth traffic in the context of autonomous driving by reducing unnecessary risk margins. Regarding the behavioral flow of pedestrian: assessment, decision-making and physical movement, as a stochastic process, we construct a probabilistic model with the Dynamic Bayesian Network. It takes account of not only pedestrian physical states but also contextual information and integrates the relationship among them. By employing the particle filter as a Bayesian filtering framework, the model estimates the pedestrian state from signal information and pedestrian position measurements. Evaluation using experimental data collected in real traffic scene shows that the proposed model has an ability to detect the pedestrian intention to cross a crosswalk even when he/she is far from it.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128292900","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396915
M. Yokozuka, N. Hashimoto, O. Matsumoto
To realize auto-driving vehicles transporting to anywhere in a country, a map containing the whole regions is necessary. In order to generate and update the big size map, number of mapping systems is an important matter. To introduce a large number of mapping systems, the costs of a system must be small. This paper describes a low-cost mobile mapping system employing a smartphone for positioning. Although the positioning function of smartphones is accurate enough to detect a self-position for pedestrian navigation, however, the accuracy is not enough to generate maps that contain obstacles for auto-driving. To gain accuracy of the positioning employing a smartphone, this paper uses a bundle adjustment that improves positioning results by fusing multiple sensor data. From experimental results, the proposed low-cost mapping system can generate an accurate map for auto-driving use.
{"title":"Low-cost 3D mobile mapping system by 6 DOF localization using smartphone embedded sensors","authors":"M. Yokozuka, N. Hashimoto, O. Matsumoto","doi":"10.1109/ICVES.2015.7396915","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396915","url":null,"abstract":"To realize auto-driving vehicles transporting to anywhere in a country, a map containing the whole regions is necessary. In order to generate and update the big size map, number of mapping systems is an important matter. To introduce a large number of mapping systems, the costs of a system must be small. This paper describes a low-cost mobile mapping system employing a smartphone for positioning. Although the positioning function of smartphones is accurate enough to detect a self-position for pedestrian navigation, however, the accuracy is not enough to generate maps that contain obstacles for auto-driving. To gain accuracy of the positioning employing a smartphone, this paper uses a bundle adjustment that improves positioning results by fusing multiple sensor data. From experimental results, the proposed low-cost mapping system can generate an accurate map for auto-driving use.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134634790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396913
Atsushi Ito, Hiroyuki Hatano, M. Fujii, Mie Sato, Yu Watanabe, Y. Hiramatsu, F. Sato, Akira Sasaki
We would like to explain the outline of a trial of navigation system using BLE beacon for sightseeing in traditional area of Nikko. We firstly explain the result of a research of characteristics of visitors to Nikko. From the questionnaire to visitors of Nikko, to support young people (20th) and foreigners by ICT is important. Especially to solve problems of transportation and to provide information of shopping and eating location are important. Also, to give them the culture and history in the approach to the Tosyogu-shrine is important. Then we designed a trial application that works with BLE beacon and performed trial to evaluate the usefulness of navigation system using BLE beacon for sightseeing in Nikko. We found that BLE beacon in outdoor worked well and if visitors are walking, they can find almost all beacons. If they move by bus, BLE beacon also work well.
{"title":"A trial of navigation system using BLE beacon for sightseeing in traditional area of Nikko","authors":"Atsushi Ito, Hiroyuki Hatano, M. Fujii, Mie Sato, Yu Watanabe, Y. Hiramatsu, F. Sato, Akira Sasaki","doi":"10.1109/ICVES.2015.7396913","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396913","url":null,"abstract":"We would like to explain the outline of a trial of navigation system using BLE beacon for sightseeing in traditional area of Nikko. We firstly explain the result of a research of characteristics of visitors to Nikko. From the questionnaire to visitors of Nikko, to support young people (20th) and foreigners by ICT is important. Especially to solve problems of transportation and to provide information of shopping and eating location are important. Also, to give them the culture and history in the approach to the Tosyogu-shrine is important. Then we designed a trial application that works with BLE beacon and performed trial to evaluate the usefulness of navigation system using BLE beacon for sightseeing in Nikko. We found that BLE beacon in outdoor worked well and if visitors are walking, they can find almost all beacons. If they move by bus, BLE beacon also work well.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114443895","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396887
A. Suzuki, K. Mizui
In autonomous vehicles, driving in traffic poses significant challenges in vehicle-to-vehicle (V2V) communication and ranging. Currently interest centers on enhanced V2V communication with multi-sensor and cooperative approaches. In this paper we propose a novel bidirectional Laser Radar Visible Light Bidirectional Communication Boomerang System (LRVLB-ComBo). LRVLB-ComBo affords nuanced real-time two-way V2V communication as a basis for complex but reliable decision-making. Our approach involves combining existing automotive laser radar with visible light boomerang systems using Time Hopping Spread Spectrum techniques. System simulations were performed using a random mix of extraneous interference pulse to evaluate system sensitivity to noise. Results suggest that LRVLB-ComBo is a viable two-way V2V communication system with increased ranging accuracy, enabling provision of detailed bidirectional data exchange for ITS precision, energy efficiency and safety.
{"title":"Laser radar and visible light in a bidirectional V2V communication and ranging system","authors":"A. Suzuki, K. Mizui","doi":"10.1109/ICVES.2015.7396887","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396887","url":null,"abstract":"In autonomous vehicles, driving in traffic poses significant challenges in vehicle-to-vehicle (V2V) communication and ranging. Currently interest centers on enhanced V2V communication with multi-sensor and cooperative approaches. In this paper we propose a novel bidirectional Laser Radar Visible Light Bidirectional Communication Boomerang System (LRVLB-ComBo). LRVLB-ComBo affords nuanced real-time two-way V2V communication as a basis for complex but reliable decision-making. Our approach involves combining existing automotive laser radar with visible light boomerang systems using Time Hopping Spread Spectrum techniques. System simulations were performed using a random mix of extraneous interference pulse to evaluate system sensitivity to noise. Results suggest that LRVLB-ComBo is a viable two-way V2V communication system with increased ranging accuracy, enabling provision of detailed bidirectional data exchange for ITS precision, energy efficiency and safety.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124359745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396918
Yu‐Chen Lin, Hsiang-Chieh Hsu, Wen-Jen Chen
This paper presents a model predictive control approach for the design of vehicular adaptive cruise control (ACC) systems by a finite horizon dynamic programming approach, which is aimed at providing automatic and steady car-following capability and enhancing riding comfort. The formalism is based on the Bellman's optimality principle and receding horizon strategy to obtain the optimal feedback control gain as evaluated by a cost function. A quadratic cost function is developed that considers the contradictions between minimal tracking error and acceleration limits of the ACC vehicle. Hence, the characteristics of permissible following distance and acceleration command are expressed as linear constraints, simultaneity. To solve the constrained finitehorizon optimal control problem, a model based optimized dynamic terminal controller is proposed to drive the system state into a terminal region as tracking error compensation. Extensive simulations and comparisons for relevant traffic scenarios of ACC systems cannot only perform to verify the proposed optimal predictive controller design but also preserve the asymptotic stability.
{"title":"Dynamic programming for model predictive control of adaptive cruise control systems","authors":"Yu‐Chen Lin, Hsiang-Chieh Hsu, Wen-Jen Chen","doi":"10.1109/ICVES.2015.7396918","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396918","url":null,"abstract":"This paper presents a model predictive control approach for the design of vehicular adaptive cruise control (ACC) systems by a finite horizon dynamic programming approach, which is aimed at providing automatic and steady car-following capability and enhancing riding comfort. The formalism is based on the Bellman's optimality principle and receding horizon strategy to obtain the optimal feedback control gain as evaluated by a cost function. A quadratic cost function is developed that considers the contradictions between minimal tracking error and acceleration limits of the ACC vehicle. Hence, the characteristics of permissible following distance and acceleration command are expressed as linear constraints, simultaneity. To solve the constrained finitehorizon optimal control problem, a model based optimized dynamic terminal controller is proposed to drive the system state into a terminal region as tracking error compensation. Extensive simulations and comparisons for relevant traffic scenarios of ACC systems cannot only perform to verify the proposed optimal predictive controller design but also preserve the asymptotic stability.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123382903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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