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2018-01-0041
Published 03 Apr 2018
Basic Autonomous Vehicle Controller Development through Modeling and Simulation Ayush Goel IIT Kanpur Somnath Sengupta IIT Kharagpur Citation: Goel, A. and Sengupta, S., “Basic Autonomous Vehicle Controller Development through Modeling and Simulation,” SAE Technical Paper 2018-01-0041, 2018, doi:10.4271/2018-01-0041.
Abstract
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utonomous vehicles at various stages will impact the future of transportation by improving reliability, comfort and safety of the passengers. In this paper, for an existing experimental vehicle, fitted with various sensors and actuators typically required by autonomous vehicles, a basic level-1 autonomous controller for braking and throttle actuations is proposed. This controller is primarily developed for stop-and-go scenarios along with the additional functionalities of automatic cruise control (ACC) and automatic emergency braking (AEB). Since the rigorous testing of autonomous vehicle in actual roads can be time consuming, costly and having safety issues, a simulation test-bench based approach is considered to develop and test the controller. The controller, based on practical data is developed in simulation environment to primarily maintain safe distance from surrounding traffic objects while fulfilling requirements such as jerk levels, conditional braking, speed limits, etc. In this work, only a longitudinal controller is developed for low
Introduction
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utonomous vehicles and associated research have been important topics in both industries and academia. They offer us with a possibility of zeroaccidents, using 360-degree sensors and efficient computation based decision making that do not get distracted compared to human’s frequently interrupted 200-degree field of view. Work in the autonomous vehicle has grown dramatically over (recently) several years. Though the path to a completely autonomous vehicle crosses several engineering fields that all needs to be integrated into one complete system, the idea of autonomous vehicle can be seen as early as 1920s when only cruise control was adapted in the vehicles [1]. The cruise controller is an example of a longitudinal controller affecting acceleration and deceleration of the car and maintaining a fixed speed. While with a lateral controller we can make the vehicle steer itself, recent developments [2, 3] have accelerated the interest and growth © 2018 SAE International. All Rights Reserved.
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