Improvement of Road-following Intelligent Speed Control Based on Road Curvature

Both vehicle parameters and road geometry are necessary in determining the vehicles behavior and improving driving safety in risky situations. Traditional ACC vehicles ignore the geometrical features of oncoming road as well as accompanied influence on the vehicle dynamics, so that vehicle accidents are likely to happen on these roads. In this paper, the correlation between vehicle parameters and road geometry is analyzed by vehicle modeling and road geometry design, and the discovered function relation gives that the desired vehicle parameters can be obtained from these road parameters. Then, aiming at the lateral control scheme of ACC vehicles in curve road, the control system takes road curvature into consideration, and an intelligent speed tracking controller is designed by using Terminal sliding mode control method (TSMC). The simulation results in MATLAB environment illustrate the effectiveness and stability of the designed controller based on road geometry.