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Aug 12, 2020
A Wave Model of Vehicle for Longitudinal Control
Authors: Yuxuan Zhu [email protected], Yang Zhao [email protected], Jianming Hu [email protected], and Zuo Zhang [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
Longitudinal controlling is one of the most important and basic controls of autonomous driving. In this work, we will introduce an algorithm which gives rise to a model of vehicles used for basic collision avoiding which can be realized based on the CVIS system. We will first give a brief introduction of the background. Then we will describe the process and results of modeling, where vehicles are represented as waves and its amplitude represents the possibility of having collisions at a certain point. In the end, we will provide several ways of refining the basic model, with which the model can be used for almost all road traffic scenes. From simulation results, we can see that this model has features as follows: basic safety requirements satisfied and highly adaptive to sceneries and vehicles. In conclusion, this model has a potential application value.
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© 2020 American Society of Civil Engineers.
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Published online: Aug 12, 2020
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1Dept. of Automation, Tsinghua Univ., Beijing 100084, China. Email: [email protected]
2Dept. of Automation, Tsinghua Univ., Beijing 100084, China. Email: [email protected]
3Dept. of Automation, Tsinghua Univ., Beijing 100084, China; Beijing National Research Center for Information Science and Technology, Beijing 100084, China. Email: [email protected]
4Dept. of Automation, Tsinghua Univ., Beijing 100084, China; Beijing National Research Center for Information Science and Technology, Beijing 100084, China. Email: [email protected]
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Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.