Abstract
This paper describes the design of a longitudinal controller for an automated driving bus, which is expected to be a transportation method of the future. A linear longitudinal model is presented by approximating an aerodynamic drag force and rolling resistance force in a low speed range. Then, the feedback gains of a proportional integral (PI) controller for considering the longitudinal grade of the road are determined using a root locus method, with a constraint derived from the Chien–Hrones–Reswick method. A traffic light is predicted by the vehicle, so as to pass a signalized intersection smoothly. Further, a novel adaptive cruise control method is proposed for the automated driving bus, to reduce the acceleration of the vehicle. The performance of the controller is validated through pilot tests on public roads.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Intelligent Transportation Systems Research
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
