Longitudinal velocity control design with error tolerance strategy for autonomous vehicle
This work serves as the proof of concept of an autonomous vehicle prototype developed by Moovita and Universiti Teknologi Malaysia. For a dependable driverless vehicle maneuver, it requires a stable velocity controller to allow for the desired longitudinal motion navigation. Thus, a multi-level long...
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| Main Authors: | , , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | en |
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Springer Singapore
2020
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| Online Access: | http://umpir.ump.edu.my/id/eprint/27770/2/1.1%20Longitudinal%20velocity%20control%20design%20with%20error%20tolerance%20strategy.pdf http://umpir.ump.edu.my/id/eprint/27770/ https://link.springer.com/chapter/10.1007/978-981-13-8323-6_1 https://doi.org/10.1007/978-981-13-8323-6_1 |
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| _version_ | 1831527099964325888 |
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| author | Umar Zakir, Abdul Hamid Ravichandiran, Balaji Murtadha Bazli, Tukimat Hairi, Zamzuri Fakhrul Razi, Ahmad Zakuan Dilip Kumar, Limbu Muhammad Aizzat, Zakaria |
| author_facet | Umar Zakir, Abdul Hamid Ravichandiran, Balaji Murtadha Bazli, Tukimat Hairi, Zamzuri Fakhrul Razi, Ahmad Zakuan Dilip Kumar, Limbu Muhammad Aizzat, Zakaria |
| author_sort | Umar Zakir, Abdul Hamid |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This work serves as the proof of concept of an autonomous vehicle prototype developed by Moovita and Universiti Teknologi Malaysia. For a dependable driverless vehicle maneuver, it requires a stable velocity controller to allow for the desired longitudinal motion navigation. Thus, a multi-level longitudinal velocity control is proposed as part of the motion guidance strategy. The higher level formulates the desired braking and torque actuation relative to the obtained reference generator information, while the lower level aids the vehicle to actuate the actuators. The focus will be on the higher-level velocity control design, where (i) it is expected to yield alternate actuation between braking and gas, and (ii) to prevent the sudden increase in actuation and yield a more-human like behavior. An error tolerance strategy is included in the controller design to achieve this. The controller design is then validated on a varied speed real-time experiment as a proof of concept. Results show the proposed controller is able to provide the desirable navigation for controlled AV navigation in a predefined environment. |
| format | Conference or Workshop Item |
| id | my.ump.umpir.27770 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2020 |
| publisher | Springer Singapore |
| record_format | eprints |
| spelling | my.ump.umpir.277702021-03-03T04:07:20Z http://umpir.ump.edu.my/id/eprint/27770/ Longitudinal velocity control design with error tolerance strategy for autonomous vehicle Umar Zakir, Abdul Hamid Ravichandiran, Balaji Murtadha Bazli, Tukimat Hairi, Zamzuri Fakhrul Razi, Ahmad Zakuan Dilip Kumar, Limbu Muhammad Aizzat, Zakaria TS Manufactures This work serves as the proof of concept of an autonomous vehicle prototype developed by Moovita and Universiti Teknologi Malaysia. For a dependable driverless vehicle maneuver, it requires a stable velocity controller to allow for the desired longitudinal motion navigation. Thus, a multi-level longitudinal velocity control is proposed as part of the motion guidance strategy. The higher level formulates the desired braking and torque actuation relative to the obtained reference generator information, while the lower level aids the vehicle to actuate the actuators. The focus will be on the higher-level velocity control design, where (i) it is expected to yield alternate actuation between braking and gas, and (ii) to prevent the sudden increase in actuation and yield a more-human like behavior. An error tolerance strategy is included in the controller design to achieve this. The controller design is then validated on a varied speed real-time experiment as a proof of concept. Results show the proposed controller is able to provide the desirable navigation for controlled AV navigation in a predefined environment. Springer Singapore 2020 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/27770/2/1.1%20Longitudinal%20velocity%20control%20design%20with%20error%20tolerance%20strategy.pdf Umar Zakir, Abdul Hamid and Ravichandiran, Balaji and Murtadha Bazli, Tukimat and Hairi, Zamzuri and Fakhrul Razi, Ahmad Zakuan and Dilip Kumar, Limbu and Muhammad Aizzat, Zakaria (2020) Longitudinal velocity control design with error tolerance strategy for autonomous vehicle. In: RITA 2018: Proceedings of the 6th International Conference on Robot Intelligence Technology and Applications , 16-18 December 2018 , Putrajaya, Malaysia. pp. 1-11., 113. ISBN 978-981-13-8323-6 (Published) https://link.springer.com/chapter/10.1007/978-981-13-8323-6_1 https://doi.org/10.1007/978-981-13-8323-6_1 |
| spellingShingle | TS Manufactures Umar Zakir, Abdul Hamid Ravichandiran, Balaji Murtadha Bazli, Tukimat Hairi, Zamzuri Fakhrul Razi, Ahmad Zakuan Dilip Kumar, Limbu Muhammad Aizzat, Zakaria Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title | Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title_full | Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title_fullStr | Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title_full_unstemmed | Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title_short | Longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| title_sort | longitudinal velocity control design with error tolerance strategy for autonomous vehicle |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/27770/2/1.1%20Longitudinal%20velocity%20control%20design%20with%20error%20tolerance%20strategy.pdf http://umpir.ump.edu.my/id/eprint/27770/ https://link.springer.com/chapter/10.1007/978-981-13-8323-6_1 https://doi.org/10.1007/978-981-13-8323-6_1 |
| url_provider | http://umpir.ump.edu.my/ |