Design and Simulation of Car-Following Control System for Intelligent Vehicles

Abstract:

To improve the driving safety and comfort during car-following, a hierarchical car-following control system is designed. The upper-level controller determines the desired longitudinal velocity according to the vehicle state information from sensors and the minimum safety distance model based on time headway. The lower-level controller with switch logic between throttle and brake is employed for the longitudinal velocity control. The optimal PID parameters in the lower-level controller are tuned with orthogonal experimental design (OED) method, aiming at minimizing the comprehensive index about safety and comfort. Co-simulations of the car-following system are implemented in the simulation platform based on PreScan and Matlab/Simulink. The following vehicle is controlled to track a leading vehicle with a preset time-varying velocity, ensuring a safety distance between the two vehicles and improving driving comfort. The simulation results show that the car-following control system has a good performance on car-following and is suitable for intelligent vehicles.

• Periodical: Applied Mechanics and Materials (Volumes 651-653)
• Pages: 688-692
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.651-653.688
• Online since: September 2014
• Authors: Guo Yan Xu*, Xiao Min Lin, Neng Gen Ding, Feng Gao
• Keywords: Car-Following, Longitudinal Velocity Control, Orthogonal Experimental Design, PreScan, Safety Distance

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