Title: Modelling and simulation of sensor-guided autonomous driving

Authors: Weiwen Deng; Shuqing Zeng; Qingrong Zhao; Junhong Dai

Addresses: State Key Lab of Automotive Simulation and Control, Jilin University, Changchun 130025, China. ' General Motors Company, Warren, MI 48090, USA. ' General Motors Company, Warren, MI 48090, USA. ' General Motors Company, Warren, MI 48090, USA

Abstract: This paper presents a modelling and simulation method for sensor-guided autonomous driving. A generic model of range sensing and object detection in 3D space is discussed first that represents their high-level functions. The low-level physical characteristics of range sensing and object detection are further investigated based on Frequency Modulated Continuous Wave (FMCW) radar which is gaining wide popularity in automotive applications. These are the enablers to modelling and simulation of vehicle interactions with one another under traffic and with surrounding environment. A closed-loop adaptive cruise control is then used as an example to demonstrate the vehicle limited autonomous driving with the proposed model and method that has been shown to be valid, effective and numerically efficient.

Keywords: range sensing; object detection; modelling; simulation; vehicle active safety; autonomous driving; vehicle safety; sensor-guided autonomous driving; sensor-guided autonomous vehicles; FMCW radar; adaptive cruise control.

DOI: 10.1504/IJVD.2011.043273

International Journal of Vehicle Design, 2011 Vol.56 No.1/2/3/4, pp.341 - 366

Received: 30 Sep 2010
Accepted: 25 Oct 2010
Published online: 10 Apr 2015 *

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