In this paper, we propose a vehicle path prediction employing yaw acceleration for adaptive cruise control (ACC). First, a path prediction method employing yaw acceleration is proposed to improve the path prediction performance of ego vehicles. In the proposed method, the vehicle path is predicted by using a clothoidal cubic polynomial curve model, and for this purpose, the curvature rate, yaw rate, and longitudinal velocity are required. The curvature rate can be mathematically obtained by differentiating the yaw rate without a camera sensor. To obtain the yaw acceleration from the noisy measured yaw rate, we derive the state-space model from the steer wheel angle for the yaw rate. Then, the KF is designed by using the state-space model to estimate the yaw acceleration. Second, a multirate longitudinal control method is proposed to improve the longitudinal control performance. The multirate KF employs the constant acceleration model in order to estimate the relative distance and velocity of the target vehicle at a faster sampling rate. Then, the desired acceleration is achieved to maintain a safe headway distance or velocity by means of the longitudinal controller. Consequently, the whole ACC system operates with a faster sampling rate so that multirate control scheme reduces ripples in both the relative longitudinal distance and the desired acceleration. The performance of the proposed method was evaluated via simulations and experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Vehicle Path Prediction Using Yaw Acceleration for Adaptive Cruise Control


    Contributors:


    Publication date :

    2018-12-01


    Size :

    3997086 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    ADAPTIVE CRUISE CONTROL ACCELERATION RATE CONTROL

    SCHWINDT OLIVER | European Patent Office | 2017

    Free access

    ADAPTIVE CRUISE CONTROL ACCELERATION RATE CONTROL

    SCHWINDT OLIVER | European Patent Office | 2018

    Free access

    Vehicle trajectory prediction for adaptive cruise control

    Yi, Sung Gu / Kang, Chang Mook / Lee, Seung-Hi et al. | IEEE | 2015


    Acceleration control method and device for vehicle adaptive cruise and electronic equipment

    HU WENHAO / DONG HONGLEI / XIAO LINGYUN et al. | European Patent Office | 2023

    Free access

    Acceleration constraint control algorithm for vehicle cruise control system

    HE YOUGUO / LIU XIN / YUAN CHAOCHUN et al. | European Patent Office | 2020

    Free access