吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (02): 273-277.

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Vehicle longitudinal speed split-phase control

GUAN Xin, CUI Wen-feng, JIA Xin   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2012-05-02 Online:2013-03-01 Published:2013-03-01

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Abstract: A vehicle longitudinal speed control algorithm was proposed to be used in vehicle closed-loop simulation or in an autonomous vehicle speed control system. As the vehicle longitudinal motion system is a nonlinear system and the reference speed is a random input, the motion of the vehicle was divided into 5 phases: steady speed control phase, acceleration control phase, emergent acceleration phase, brake control phase and emergent brake phase. Throttle paddle was used only in the first 3 phases, and brake paddle was used only in the last 2 phases. In each specific phase, an anti-integral saturation PID control algorithm or a P algorithm was used. Simulation results showed that the proposed split-phase control was characterized by an accurate vehicle speed-following and a logic switching between a throttle control and a brake control.

Key words: vehicle engineering, autonomous driving, speed control, split-phase, PID control

CLC Number: 

  • U461.1
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