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Yang, Bin

Aalborg University

in Cooperation with on an Cooperation-Score of 37%

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Co-Authors (by relevance)

document

Design of Longitudinal Controller for Automated Driving Bus

  • Zhou, Yongkang
  • Momiyama, Fujio
  • Ando, Takayuki
  • Yang, Bin
  • Nakano, Kimihiko
  • Aoki, Keiji
Abstract

This paper describes the design of a longitudinal controller for an automated driving bus, which is expected to be a transportation method of the future. A linear longitudinal model is presented by approximating an aerodynamic drag force and rolling resistance force in a low speed range. Then, the feedback gains of a proportional integral (PI) controller for considering the longitudinal grade of the road are determined using a root locus method, with a constraint derived from the Chien–Hrones–Reswick method. A traffic light is predicted by the vehicle, so as to pass a signalized intersection smoothly. Further, a novel adaptive cruise control method is proposed for the automated driving bus, to reduce the acceleration of the vehicle. The performance of the controller is validated through pilot tests on public roads.

Topics
  • driving
  • autonomous driving
  • bus
  • traffic signal
  • acceleration
  • resistance
  • resistance
  • aerodynamic
  • profit
  • bottleneck
  • constraint
  • public road
  • control device
  • signalized intersection
  • rolling resistance
  • cruise control
  • autonomous intelligent cruise control
  • pilot study
  • drag force