Low-speed cooperative car-following fuzzy controller for cybernetic transport systems

Vicente Milanés; Mohamed Marouf; Joshué Pérez; David González; Fawzi Nashashibi

doi:10.1109/ITSC.2014.6958009

Low-speed cooperative car-following fuzzy controller for cybernetic transport systems

Vicente Milanés
, Mohamed Marouf
, Joshué Pérez
, David González
, Fawzi Nashashibi

Institut national de recherche en informatique et en automatique

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

This paper describes the development of a Cooperative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitudinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.

Original language	English
Title of host publication	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2075-2080
Number of pages	6
ISBN (Electronic)	9781479960781
DOIs	https://doi.org/10.1109/ITSC.2014.6958009
Publication status	Published - 14 Nov 2014
Externally published	Yes
Event	17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China Duration: 8 Oct 2014 → 11 Oct 2014

Publication series

Name	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Country/Territory	China
City	Qingdao
Period	8/10/14 → 11/10/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Access to Document

10.1109/ITSC.2014.6958009

Cite this

Milanés, V., Marouf, M., Pérez, J., González, D., & Nashashibi, F. (2014). Low-speed cooperative car-following fuzzy controller for cybernetic transport systems. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (pp. 2075-2080). Article 6958009 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2014.6958009

Milanés, Vicente ; Marouf, Mohamed ; Pérez, Joshué et al. / Low-speed cooperative car-following fuzzy controller for cybernetic transport systems. 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2075-2080 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

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title = "Low-speed cooperative car-following fuzzy controller for cybernetic transport systems",

abstract = "This paper describes the development of a Cooperative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitudinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.",

author = "Vicente Milan{\'e}s and Mohamed Marouf and Joshu{\'e} P{\'e}rez and David Gonz{\'a}lez and Fawzi Nashashibi",

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series = "2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014",

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Milanés, V, Marouf, M, Pérez, J, González, D & Nashashibi, F 2014, Low-speed cooperative car-following fuzzy controller for cybernetic transport systems. in 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014., 6958009, 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2075-2080, 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Qingdao, China, 8/10/14. https://doi.org/10.1109/ITSC.2014.6958009

Low-speed cooperative car-following fuzzy controller for cybernetic transport systems. / Milanés, Vicente; Marouf, Mohamed; Pérez, Joshué et al.
2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2075-2080 6958009 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Low-speed cooperative car-following fuzzy controller for cybernetic transport systems

AU - Milanés, Vicente

AU - Marouf, Mohamed

AU - Pérez, Joshué

AU - González, David

AU - Nashashibi, Fawzi

PY - 2014/11/14

Y1 - 2014/11/14

N2 - This paper describes the development of a Cooperative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitudinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.

AB - This paper describes the development of a Cooperative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitudinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a proper car-following gap error and the smoothness of the control signal. The controller was firstly tested in simulation using the developed model. Then, the CACC was implemented in two Cybecars to validate the controller performance in real scenarios.

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U2 - 10.1109/ITSC.2014.6958009

DO - 10.1109/ITSC.2014.6958009

M3 - Conference contribution

AN - SCOPUS:84937157644

T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

SP - 2075

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BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 8 October 2014 through 11 October 2014

ER -

Milanés V, Marouf M, Pérez J, González D, Nashashibi F. Low-speed cooperative car-following fuzzy controller for cybernetic transport systems. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2075-2080. 6958009. (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). doi: 10.1109/ITSC.2014.6958009

Low-speed cooperative car-following fuzzy controller for cybernetic transport systems

Abstract

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UN SDGs

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