My work during the research project "Comfort-oriented Adaptive Cruise Control of an Autonomous Vehicle" done at GIPSA-lab (joint research unit of the French CNRS and Université Grenoble Alpes), January-June 2020, where we considered only cruise control (see details and explanations in the report). Then we extended this into an integrated cruise + semi-active suspension control framework. The following papers have been uploaded on my ResearchGate.
The extended, full results of the project have been presented in the journal articles:
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Gia Quoc Bao Tran, Thanh Phong Pham, Olivier Sename, Eduarda Costa, Péter Gáspár. Integrated Comfort-Adaptive Cruise and Semi-Active Suspension Control for an Autonomous Vehicle: An LPV Approach. Electronics, March 2021. PDF.
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Gia Quoc Bao Tran, Thanh Phong Pham, Olivier Sename, Péter Gáspár. LMI-based Polytopic LQR Cruise Control of an Autonomous Vehicle towards Driving Comfort. To appear in Periodica Polytechnica Transportation Engineering.
Some results of the cruise control part have been presented at the international conference VSDIA 2020:
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Gia Quoc Bao Tran, Olivier Sename, Péter Gáspár, Balázs Németh, Eduarda Costa. Adaptive Speed Control of an Autonomous Vehicle with a Comfort Objective. 17th International Conference on Vehicle System Dynamics, Identification and Anomalies, Budapest, Hungary, November 2020. PDF.
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Eduarda Costa, Thanh Phong Pham, Olivier Sename, Gia Quoc Bao Tran, Trong Tu Do, Péter Gáspár. Definition of a Reference Speed of an Autonomous Vehicle with a Comfort Objective. 17th International Conference on Vehicle System Dynamics, Identification and Anomalies, Budapest, Hungary, November 2020. PDF.
Lastly, the project report is found here.
I added the codes for cruise control. Codes for semi-active suspension control will come soon.
Contents:
- Cruise control strategies: Some cruise control approaches I tried during the project.
- Robustness analysis: To analyze the change in performance of three different controllers w.r.t the change in system parameters.
- Comfort-oriented cruise control: The final autonomous vehicle cruise control strategy so as to guarantee driving comfort.
By: Gia Quoc Bao TRAN
