Multi-Object Adaptive Cruise Control
By (author) Rainer Mobus
Paperback (Published)
(July 2008)
ISBN: 9783832519582
6.65 x 9.45 inches
Price: $61.00
Out of stock
In this thesis the development and implementation of a multi-object adaptive cruise control (ACC) system is presented. A sensor fusion configuration as well as object tracking and sensor fusion algorithms are presented to obtain a thorough representation of the traffic scene ahead of an ACC-controlled vehicle. The sensor fusion configuration includes a 77GHz radar sensor and an IR laser sensor for object detection. A monocular CCD camera system is employed for lane recognition and the lane assignment of the detected objects. Experimental results of all presented algorithms are given. The control model and the control objectives of a multi-object ACC system are presented. The multi-object ACC problem is looked at as a constrained optimal control problem incorporating the dynamics of the traffic scene, the driver’s desire to cruise at a certain velocity, the lane assignment of the other road users, the objective of respecting certain minimum distances to other road users and to adapt the velocity to the flow of the other road users. Additionally, overtaking a preceding vehicle on the right can be avoided. The choice of the relevant object is implicitly determined by the cost function and the optimization criteria. Constraints imposed by physical limitations as well as by comfort and safety considerations can be included and a receding horizon control strategy is applied. The multi-object ACC problem is looked at as a constrained finite time optimal control (CFTOC) problem with a mixed logical dynamical (MLD) system description. With an efficient way to represent and evaluate the explicit solution to the corresponding multi-parametric mixed integer quadratic program, it is possible to include all desired control objectives in the problem formulation and still obtain an explicit solution suitable for real-time operation. Simulation results of this multi-object ACC control approach are presented and the controller is compared to a reference ACC controller. With the efficient controller representation the multi-object ACC controller is implemented on the ECU of a standard production platform vehicle to confirm the simulation results in real traffic.
- By (author) Rainer Mobus
Similar Books
![Book cover: Transitive Media [Philosophy]](https://isd.stisonbooks.com/images/books/native/9781804132340.jpg?asset_id=66970)
Care in an Era of New Technologies and Artificial Intelligence
Relationships in a Connected World
Volume 14
Buchblogs zwischen Passion und Profession
Zur Diskursivierung digitaler literaturbezogener Anschlusskommunikation als Arbeit
Volume 5
Proceedings of the 7th Symposium of the Hellenic Society for Archaeometry
Archaeology Archaeometry: 30 Years Later
Die Einfuhrung ins richtige Handeln in der Arithmetik (Madhal ar-rasad ila ‘ilm al-‘adad) von al-Qalasadi (st. 1486)
Bearbeitung und Einordnung in die magribinische Mathematikgeschichte
Volume 19
I disegni e i discorsi di Giovanni Antonio Nigrone vol. I
fontanaro e ingegniero de acqua (1585-1609 ca.)
Volume 481
I disegni e i discorsi di Giovanni Antonio Nigrone vol. II
Fontanaro e ingegniero de acqua (1585-1609 ca.)
Volume 497
Performance Management in Humanitarian Logistics
Development of a Process-driven and IT-supported Performance Measurement System
Volume 66
Supporting Operational and Real-time Planning Tasks of Road Freight Transport with Machine Learning
Guiding the Implementation of Machine Learning Algorithms
Volume 69
