A Feedback Linearization Based Approach for Fully Autonomous Adaptive Cruise Control
This paper presents a novel approach to design a stop-and-go Adaptive Cruise Control system for autonomous vehicles featured by low computational cost and suitable for running in real-time on an embedded microprocessor. The control scheme uses feedback linearization approach to deal with system non-...
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| Published in: | 2019 18th European Control Conference (ECC) pp. 2614 - 2619 |
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| Main Authors: | , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
EUCA
01-06-2019
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| Online Access: | Get full text |
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| Summary: | This paper presents a novel approach to design a stop-and-go Adaptive Cruise Control system for autonomous vehicles featured by low computational cost and suitable for running in real-time on an embedded microprocessor. The control scheme uses feedback linearization approach to deal with system non-linearities, which allows the use of linear control techniques to guarantee the respect of the safety distance, with respect to the in front target vehicle, in both steady state and transient navigation conditions. Moreover, a new safety distance formalization is introduced and its effectiveness has been validated in simulation and on-road. |
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| DOI: | 10.23919/ECC.2019.8795832 |