期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 59, 期 1, 页码 620-628出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2011.2148673
关键词
Autonomous vehicle; intelligent control; longitudinal control; nonlinear control
资金
- CYCIT (Spain)
- Plan Nacional (Spain) [P9/08, TRA2008-06602-C03-01]
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 Citroen 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 Citroen, and their behavior under the same conditions on an identical real circuit was compared.
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