Low-Speed Cooperative Car-Following Fuzzy Controller for Cybernetic Transport Systems

Abstract : — This paper describes the development of a Coop-erative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitu-dinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.
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Submitted on : Wednesday, December 3, 2014 - 10:42:03 AM
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Vicente Milanés, Mohamed Marouf, Joshué Pérez Rastelli, David Gonzalez Bautista, Fawzi Nashashibi. Low-Speed Cooperative Car-Following Fuzzy Controller for Cybernetic Transport Systems. 2014 IEEE 17th International Conference on Intelligent Transportation Systems (ITSC), Oct 2014, Qingdao, China. ⟨10.1109/ITSC.2014.6958009⟩. ⟨hal-01086877⟩

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