Authors: Balázs Németh; Péter Gáspár
Addresses: Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13–17, H-1111 Budapest, Hungary ' Systems and Control Laboratory, Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13–17, H-1111 Budapest, Hungary
Abstract: The paper proposes the design of velocity based on road inclinations, speed limits, a preceding vehicle on the lane and travelling time. A new control method in which the longitudinal control incorporates the brake and traction forces is also proposed to achieve the required velocity. By choosing the velocity which is appropriate according to the road and traffic information, the number of unnecessary accelerations and brakings and their durations can be significantly reduced. In the design method, the modelling and robust control of the Linear Parameter Varying (LPV) theory are exploited. The operation of the longitudinal controlled system and the influences of different designed parameters are analysed through vehicle simulations. Finally, the efficiency of the controlled system is demonstrated on a real transportation route.
Keywords: LPV control; linear parameter varying control; robust stability; robust performance; optimisation; vehicle cruise control; look-ahead control; road inclinations; speed limits; preceding vehicles; travel time; robust control; longitudinal control; brake force; traction force; vehicle speed; modelling; simulation.
International Journal of Vehicle Autonomous Systems, 2013 Vol.11 No.4, pp.313 - 333
Received: 04 Jun 2011
Accepted: 29 Mar 2012
Published online: 15 Aug 2013 *