Low-Speed Longitudinal Controllers for Mass-Produced Cars: A Comparative Study

Four longitudinal control techniques are compared: a classical Proportional-Integral (PI) control; an advanced technique-called the i-PI-that adds an intelligent component to the PI; a fuzzy controller based on human experience; and an adaptive-network-based fuzzy inference system. The controllers w...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2012-01, Vol.59 (1), p.620-628
Main Authors: Milanes, V., Villagra, J., Perez, J., Gonzalez, C.
Format: Article
Language:English
Subjects:
Acceleration
Autonomous vehicle
Computer Science
Driver circuits
Humans
Input variables
intelligent control
longitudinal control
nonlinear control
Pragmatics
Robotics
Vehicle dynamics
Vehicles
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Summary:Four longitudinal control techniques are compared: a classical Proportional-Integral (PI) control; an advanced technique-called the i-PI-that adds an intelligent component to the PI; a fuzzy controller based on human experience; and an adaptive-network-based fuzzy inference system. The controllers were designed to tackle one of the challenging topics as yet unsolved by the automotive sector: managing autonomously a gasoline-propelled vehicle at very low speeds. The dynamics involved are highly nonlinear and constitute an excellent test-bed for newly designed controllers. A Citroën C3 Pluriel car was modified to permit autonomous action on the accelerator and the brake pedals-i.e., longitudinal control. The controllers were tested in two stages. First, the vehicle was modeled to check the controllers' feasibility. Second, the controllers were then implemented in the Citroën, and their behavior under the same conditions on an identical real circuit was compared.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2011.2148673