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

Abstract : 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.
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https://hal.inria.fr/hal-00732892
Contributor : Joshué Pérez Rastelli <>
Submitted on : Monday, October 1, 2012 - 1:44:28 PM
Last modification on : Friday, May 25, 2018 - 12:02:03 PM
Long-term archiving on : Wednesday, January 2, 2013 - 3:55:29 AM

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Vicente Milanés, Jorge Villagra, Joshué Pérez Rastelli, Carlos González. Low-Speed Longitudinal Controllers for Mass-Produced Cars: A Comparative Study. IEEE Transactions on Industrial Electronics, Institute of Electrical and Electronics Engineers, 2012, 59 (1), pp.620-628. ⟨hal-00732892⟩

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