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International Journal of Intelligent Transportation Systems Research

Published in:

13-12-2019

Design of Longitudinal Controller for Automated Driving Bus

Authors: Takayuki Ando, Yongkang Zhou, Fujio Momiyama, Keiji Aoki, Bo Yang, Kimihiko Nakano

Published in: International Journal of Intelligent Transportation Systems Research | Issue 3/2020

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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.

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Title: Design of Longitudinal Controller for Automated Driving Bus
Authors: Takayuki Ando
Yongkang Zhou
Fujio Momiyama
Keiji Aoki
Bo Yang
Kimihiko Nakano
Publication date: 13-12-2019
Publisher: Springer US
Published in: International Journal of Intelligent Transportation Systems Research / Issue 3/2020
Print ISSN: 1348-8503
Electronic ISSN: 1868-8659
DOI: https://doi.org/10.1007/s13177-019-00214-0

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Optimal Matching Problem for Ride-Sharing Considering Users’ Schedule Rearrangement

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Cross Comparison of Spatial Partitioning Methods for an Urban Transportation Network

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Early Detection of a Traffic Flow Breakdown in the Freeway Based on Dynamical Network Markers

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