Longitudinal Control for Automated Vehicle Guidance

this paper presents an automated vehicle guidance strategy with a special focus on the longitudinal control. Indeed, the longitudinal control plays an important role in the automated guidance strategy to ensure safety and comfort of automotive passengers. Sophisticated longitudinal control allows also to enhance fuel consumption reduction. Thus, a nonlinear longitudinal control design based on a Lyapunov approach is proposed taking into account the throttle, the brake and the gear ratio. The proposed longitudinal controller is coupled to a previously developed lateral guidance and the whole control architecture (coupled longitudinal and lateral control) performance is highlighted through simulations.