Search Results

Autonomous vehicles at various stages will impact the future of transportation by improving reliability, comfort and safety of the passengers. In this paper, for an existing experimental vehicle, fitted with various sensors and actuators typically required by autonomous vehicles, a basic level-1 autonomous controller for braking and throttle actuations is proposed. This controller is primarily developed for stop-and-go scenarios along with the additional functionalities of automatic cruise control (ACC) and automatic emergency braking (AEB). Since the rigorous testing of autonomous vehicle in actual roads can be time consuming, costly and having safety issues, a simulation test-bench based approach is considered to develop and test the controller. The controller, based on practical data is developed in simulation environment to primarily maintain safe distance from surrounding traffic objects while fulfilling requirements such as jerk levels, conditional braking, speed limits, etc.