Abstract:
This paper deals with the design of a low level controller for acceleration tracking using the vehicle’s pedals. Its architecture aims at mimicking the various elements w...Show MoreMetadata
Abstract:
This paper deals with the design of a low level controller for acceleration tracking using the vehicle’s pedals. Its architecture aims at mimicking the various elements which are involved when a human is driving. The focus is on providing an efficient and easy to deploy solution. This is achieved by using data collected from non tailored driving sessions and requiring basic vehicle’s knowledge.This topic takes all its relevance in the context of autonomous driving where the focus is usually on features which provide high level requests such as acceleration. Performances are claimed under the tacit requirements that requests will be accurately tracked by a (real) vehicle. This is however a strong assumption with respects to chassis control challenges, wide deployment concerns and calibration by non experts.From a calibration perspective, the focus is on how to process data collected in a relatively uncontrolled way to automatically generate appropriate parameters. From a feedback design perspective, the challenge is to retain a performing yet easy to interpret controller structure. To illustrate the controller’s performances, tests results obtained from real life experiments are presented.
Date of Conference: 10-12 October 2024
Date Added to IEEE Xplore: 11 November 2024
ISBN Information: