Vehicle Longitudinal Control with Velocity Profile for Stop and Go Operation

Abstract

In this paper, we propose a vehicle longitudinal control with a velocity profile for stop and go (SG) operation. A three-phase velocity profile is proposed to achieve smooth velocity control for stop and go operation. The proposed velocity profile makes the vehicle stop at the desired stationary point without overshooting. Given the maximum deceleration limit, we design a velocity profile for the first and second phases until the vehicle passes a setpoint near before the stop point. Once the vehicle passes the setpoint, the car is controlled by a position controller to make a complete stop at the stop point. The three-phase velocity profile considers the maximum jerk, the maximum acceleration, time to collision, and distance to go. With the proposed method, we can achieve the SG operation, providing a comfortable ride to passengers. The proposed SG operation method is compared with conventional adaptive cruise control. From the computational study, we confirm that the proposed method shows satisfactory performances for various initial speed and distance to the stationary point with CarSim and MATLAB/Simulink.