Development of Throttle and Brake Controller for Autonomous Vehicle Simulation Environment

Jisub Kwak; Kyongsu Yi

doi:10.22680/kasa2022.14.1.039

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2022 Vol.14, Issue 1 Preview Page Next Page

Development of Throttle and Brake Controller for Autonomous Vehicle Simulation Environment 자율주행 시뮬레이션 환경을 위한 차량 구동 및 제동 제어기 개발

31 March 2022. pp. 39-44

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Abstract

This paper presents a development of throttle and brake controller for autonomous vehicle simulation environment. Most of 3D simulator control autonomous vehicle by throttle and brake command. Therefore additional longitudinal controller is required to calculate pedal input from desired acceleration. The controller consists of two parts, feedback controller and feedforward controller. The feedback controller is designed to compensate error between the actual acceleration and desired acceleration calculated from autonomous driving algorithm. The feedforward controller is designed for fast response and the output is determined by the actual vehicle speed and desired acceleration. To verify the performance of the controller, simulations were conducted for various scenarios, and it was confirmed that the controller can successfully follow the target acceleration.

Keywords

Autonomous driving

Longitudinal Control

Vehicle simulation

Low-level Controller

키워드

자율주행

종방향 제어

차량 시뮬레이션

하위 제어기

References

A. Hussein, F. García and C. Olaverri-Monreal, 2018, "ROS and Unity Based Framework for Intelligent Vehicles Control and Simulation", 2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES), Madrid, Spain, pp. 1~6. 10.1109/ICVES.2018.8519522PMC6318706

G. Rong et al., 2020, "LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving", 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, pp. 1~6. 10.1109/ITSC45102.2020.9294422

H. Lee, J. Yoon, Y. Jeong and K. Yi, "Moving Object Detection and Tracking Based on Interaction of Static Obstacle Map and Geometric Model-Free Approach for Urban Autonomous Driving", in IEEE Transactions on Intelligent Transportation Systems.

H. Chae, Y. Jeong, S. Kim, H. Lee, J. Park and K. Yi, 2018, "Design and Vehicle Implementation of Autonomous Lane Change Algorithm based on Probabilistic Prediction", 2018 21st International Conference on Intelligent Transportation Systems (ITSC), Maui, HI, USA, pp. 2845~2852. 10.1109/ITSC.2018.8569778

Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 14
No :1
Pages :39-44
Received Date : 2021-11-05
Revised Date : 2022-03-02
Accepted Date : 2022-03-03
DOI :https://doi.org/10.22680/kasa2022.14.1.039

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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