A FUZZY DRIVER ASSISTANCE SYSTEM DESIGN WITH ACTIVE DISTURBANCE REJECTION IN AUTONOMOUS VEHICLES WITH LONGITUDINAL MOVEMENT

In this paper, a practical adaptive cruise control system (ACC) with two controller levels is addressed. The upper-level control scheme consists of distance and speed controllers. This controller generates the desired acceleration profile that must be followed as closely as possible by the lower-level controller. A fuzzy adaptive output feedback controller with very high precision produces this desired acceleration. Furthermore, an adaptive observer estimates the states that can’t be measured. The lower-level controller adjusts the throttle and brake actuators. Also, in the lower level, the active disturbance rejection controller (ADRC) eliminates all of the internal and external disturbances applied to the car. The ADRC parameters are tuned via the particle swarm genetic optimization algorithm. The closed-loop stability and semi-globally uniformly ultimately boundedness of all the signals is proved. Also, the asymptotic convergence of the ADRC controller estimation error to zero is insured. To show the effectiveness of the proposed method, the proposed algorithm is compared with a predictive controller, and the performance superiority of the proposed method is demonstrated.

کلیدواژه ها:

Adaptive cruise control system ، throttle angle ، pressure on the brake pedal ، vehicle longitudinal control ، fuzzy adaptive controller ، active disturbance rejection system