Robust Control Design for Active Driver Assistance Systems by Péter Gáspár Zoltán Szabó József Bokor & Balazs Nemeth

Author:Péter Gáspár, Zoltán Szabó, József Bokor & Balazs Nemeth
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

6.3.3 Principles of the Optimization of the Look-Ahead Control

In the following section, the principles of the look-ahead control are presented briefly. The road ahead of the vehicle is divided into several sections, which may be of different lengths consistently with the topography of the road. The rates of the slopes of the road and the speed limits are assumed to be known at the endpoint of each section. There are n number of segments and number of points as Fig. 6.4 shows. Then reference speeds at the section points are defined using road information: It is assumed that the acceleration of the vehicle may change in the different intervals, but within a single interval it is approximately constant. The aim is to calculate the speed of the vehicle at which the reference speeds at the section points can be reached while both energy reduction and traveling time are considered.

Fig. 6.4Division of road

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