This paper presents a control algorithm applicable for stop and go system (SGS) which is a useful system for a driver when a road is congested with vehicles in an urban driving situation. In this situation, a driver repeats bored actions such as braking and acceleration. The SGS will help the driver by controlling distance between a vehicle in front and controlled vehicle automatically. The proposed SGS composed of two controllers, one is a velocity controller and the other is a distance controller. An adaptive fuzzy controller is used as a vehicle velocity controller. Since the dynamic characteristics of the vehicle are highly nonlinear and exact model cannot be achieved, the adaptive fuzzy logic system is a good candidate for dynamic identification of the vehicle characteristics. In addition, the distance controller is designed by using Lyapunov design method. Currently, another distance controller that enables adaptation of the driving pattern of the driver in traffic jam situation is under development. Experimental results show good performance of the developed SGS control algorithm.
Abstract