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Design and Experimental Analysis of an Adaptive Cruise Control

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Robotics, Computer Vision and Intelligent Systems (ROBOVIS 2020, ROBOVIS 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1667))

Abstract

Nowadays, cars are equipped with quite a few Advanced Driver Assistant Systems(ADAS) to increase comfortability and safety while driving. Adaptive Cruise Control (ACC) is one of these ADAS systems that keeps a certain distance to a heading vehicle in front by smoothly adapting the vehicle’s speed. Usually, this is implemented using a separate PID controller for the velocity and distance or a MIMO system. This paper proposes a novel Fuzzy Logic approach for an autonomous model car called Autominy. The AutoMiny platform was developed at Dahlem Center for Machine Learning and Robotics at Freie Universität Berlin. It is equipped with a software stack for fully autonomous driving with custom modules for localization, control, and navigation. AutoMiny navigates using a pre-build vector force field approach. The proposed Fuzzy Logic controller can handle two states with different profiles. We extend the evaluating between our approach against a standard PID controller approach.

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Authors and Affiliations

  1. Dahlem Center for Machine Learning and Robotics, Freie Universität Berlin, Arnimallee 7, 14195, Berlin, Germany

    Khaled Alomari, Stephan Sundermann, Daniel Goehring & Raúl Rojas

Authors
  1. Khaled Alomari
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  2. Stephan Sundermann
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  3. Daniel Goehring
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  4. Raúl Rojas
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Corresponding author

Correspondence to Khaled Alomari .

Editor information

Editors and Affiliations

  1. Óbuda University, Budapest, Hungary

    Péter Galambos

  2. Aarhus University, Aarhus, Denmark

    Erdal Kayacan

  3. University of Paris-EST Créteil (UPEC), Créteil, France

    Kurosh Madani

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Alomari, K., Sundermann, S., Goehring, D., Rojas, R. (2022). Design and Experimental Analysis of an Adaptive Cruise Control. In: Galambos, P., Kayacan, E., Madani, K. (eds) Robotics, Computer Vision and Intelligent Systems. ROBOVIS ROBOVIS 2020 2021. Communications in Computer and Information Science, vol 1667. Springer, Cham. https://doi.org/10.1007/978-3-031-19650-8_4

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  • DOI: https://doi.org/10.1007/978-3-031-19650-8_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-19649-2

  • Online ISBN: 978-3-031-19650-8

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