(汽车运动与控制)fulltext5.pdf

Chapter 5 INTRODUCTION TO LONGITUDINAL CONTROL INTRODUCTION The term longitudinal controller is typically used in referring to any control system that controls the longitudinal motion of the vehicle, for example, its longitudinal velocity, acceleration or its longitudinal distance from another preceding vehicle in the same lane on the highway. The throttle and brakes are the actuators used to implement longitudinal control. A very familiar example of longitudinal control is the standard cruise control system available on most vehicles today. With a standard cruise control system, the driver sets a constant desired speed at which helshe would like the vehicle to travel. The cruise control system then automatically controls the throttle to maintain the desired speed. It is the drivers responsibility to ensure that the vehicle can indeed safely travel at that speed on the highway. If there happens to appear a preceding vehicle on the highway that is traveling at a slower speed or is too close to the ego vehicle, the driver must take action and if necessary apply brakes. Application of the brakes automatically disengages the cruise control system and returns control of the throttle to the driver. The following examples describe other types of advanced longitudinal control systems. Chapter 5 5.1.1 Adaptive cruise control An adaptive cruise control (ACC) system is an extension of the standard cruise control system. An ACC equipped vehicle has a radar or other sensor that measures the distance to other preceding vehicles (downstream vehicles) on the highway.