Integration of auto-steering with adaptive cruise control for improved cornering behaviour

Journal article (2017)

Authors

S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Adem Ferad Idriz, Arya Senna Abdul Rachman, S. Baldi
DOI: https://doi.org/10.1049/iet-its.2017.0089
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Published Date

2017

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Several works have proposed longitudinal control strategies enabling a vehicle to operate adaptive cruise control and collision avoidance functions. However, no integration with lateral control has been proposed in the current state of the art,
which motivates the developments of this work. This study presents an integrated control strategy for adaptive cruise control with auto-steering for highway driving. An appropriate logic-based control strategy is used to create synergies and safe interaction between longitudinal and lateral controllers to obtain both lateral stability and advanced adaptive cruise control functionalities. In particular, an index is proposed to evaluate lateral motion of the vehicle based on previously published experimental studies on human driving. In order to handle unstable lateral motion of the vehicle, the desired acceleration is
determined based on physical limitation in braking with cornering situations. Simulation results show that the proposed integrated controller satisfies the performance in terms of autonomous driving, path tracking and collision avoidance for various driving situations.