Evaluating performance of extended Kalman filter based adaptive cruise control using PID controller

Fahmida Islam; M. M. Nabi; Md. Mehedi Farhad; Preston Peranich; John E. Ball; Chris Goodin

doi:10.1117/12.2585688

12 April 2021 Evaluating performance of extended Kalman filter based adaptive cruise control using PID controller

Fahmida Islam, M. M. Nabi, Md. Mehedi Farhad, Preston Peranich, John E. Ball, Chris Goodin

Proceedings Volume 11748, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021; 1174807 (2021) https://doi.org/10.1117/12.2585688
Event: SPIE Defense + Commercial Sensing, 2021, Online Only

Abstract

Adaptive cruise control (ACC), a common feature in an autonomous vehicle, is intended to automatically adjust the vehicle speed and maintain a safe distance from its preceding vehicle to avoid a collision. The main challenge is to filter the sensor data accurately, and the control system can make a decision quickly. This paper proposed a control method for ACC using the Extended Kalman filter (EKF) and a Proportional Integral Derivative (PID) controller, which can estimate the acceleration or braking of the preceding vehicle by adjusting the speed of the following vehicle. The proposed control method is assessed under various PID parameters using a Genetic Algorithm (GA) to optimize the ACC system using four loss metrics: (1) throttle loss, which accounts for fuel usage, and is proportional to the throttle setting; (2)ride quality, which is penalized by an excessive jerk (the first derivative of acceleration); (3) a distance penalty, which measures how far compared to the safe distance

Conference Presentation

Citation Download Citation

Fahmida Islam, M. M. Nabi, Md. Mehedi Farhad, Preston Peranich, John E. Ball, and Chris Goodin "Evaluating performance of extended Kalman filter based adaptive cruise control using PID controller", Proc. SPIE 11748, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2021, 1174807 (12 April 2021); https://doi.org/10.1117/12.2585688

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