Navigation-based speed profile generation for an open road speed assistant

This paper presents a navigation-based Advanced Driver Assistance System for a longitudinal application which aims to adapt, in real-time, the vehicle speed, so as to ensure the passengers' safety and comfort. A digital map database provides information about the upcoming road so that a specific Spline trajectory can be calculated. The latter allows the determination of a safe and comfortable speed profile. The Control is based on the combination of a finite state machine and a PID controller. Constraints linked to the actuators, the sensors or the vehicle dynamics are taken into account, using an improved speed profile combined with a look ahead distance and a speed tolerance. The real time validation shows that the proposed solution gives satisfactory results.