A Feedback Linearization Based Approach for Fully Autonomous Adaptive Cruise Control

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
Main Authors: Trotta, Antonino, Cirillo, Andrea, Giorelli, Michele
Format: Conference Proceeding
Language:English
Published: EUCA 01-06-2019
Online Access:Get full text
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Abstract 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.
AbstractList 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.
Author Cirillo, Andrea
Giorelli, Michele
Trotta, Antonino
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  organization: Technology Innovation division, Magneti Marelli S.p.A., Venaria, Italy
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  givenname: Michele
  surname: Giorelli
  fullname: Giorelli, Michele
  organization: Technology Innovation division, Magneti Marelli S.p.A., Venaria, Italy
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Snippet 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...
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Title A Feedback Linearization Based Approach for Fully Autonomous Adaptive Cruise Control
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