Nonlinear ACC in Simulation and Measurement

摘要

In this paper an adaptive cruise control (ACC) of a convoy consisting of two passenger cars is designed and tested. For the ACC only on board sensors in the following vehicle are used, communication within the convoy or between the controlled vehicle and electronic systems on the roadside is not assumed. A laser scanner is applied for range measurements, derived from the complete vision data of The area in front of the car. Since the scanner provides the range only, a Kalman Filter is use dot estimate the velocity and acceleration of the car.