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Data Requierments for a Look-Ahead System

Look ahead cruise control deals with the concept of using recorded topographic road data combined with a GPS to control vehicle speed. The purpose of this is to save fuel without a change in travel time for a given road. This thesis explores the sensitivity of different disturbances for look ahead systems. Two different systems are investigated, one using a simple precalculated speed trajectory without feedback and the second based upon a model predictive control scheme with dynamic programming as optimizing algorithm. Defect input data like bad positioning, disturbed angle data, faults in mass estimation and wrong wheel radius are discussed in this thesis. Also some investigations of errors in the environmental model for the systems are done. Simulations over real road profiles with two different types of quantization of the road slope data are done. Results from quantization of the angle data in the system are important since quantization will be unavoidable in an implementation of a topographic road map. The results from the simulations shows that disturbance of the fictive road profiles used results in quite large deviations from the optimal case. For the recorded real road sections however the differences are close to zero. Finally conclusions of how large deviations from real world data a look ahead system can tolerate are drawn.

Erik Holma


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