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

This paper describes the development of a Cooperative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybercars as prototype vehicles. A longitudinal 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 Cybercars to validate the controller performance in real scenarios.

• Record URL:
  https://doi.org/10.1109/ITSC.2014.6958009
• Availability:
  • Find a library where document is available. Order URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6948869
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Milanés, Vicente
  • Marouf, Mohamed
  • Pérez, Joshué
  • González, David
  • Nashashibi, Fawzi
• Conference:
  • 17th International IEEE Conference on Intelligent Transportation Systems (ITSC14)
  • Location: Qingdao , China
  • Date: 2014-10-8 to 2014-10-11
• Publication Date: 2014-10

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References; Tables;
• Pagination: pp 2075-2080
• Monograph Title: 17th International IEEE Conference on Intelligent Transportation Systems (ITSC14)

Subject/Index Terms

• TRT Terms: Adaptive control; Algorithms; Automatic headway control; Autonomous intelligent cruise control; Car following; Costs; Fuzzy controllers
• Uncontrolled Terms: Cybercars
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment; I73: Traffic Control; I90: Vehicles;

Filing Info

• Accession Number: 01562440
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 29 2015 9:06AM