@inproceedings{6ecd88fb533445b1bf3ee40204215d0a,
title = "Autonomous Vehicle following System in Off-road Environment",
abstract = "To solve the problem of vehicle formation transportation in off-road environment, we design an autonomous vehicle following control system based on detection, realizing vehicle following on muddy bumpy and crooked roads with a maximum speed of 35 km/h. First, the detection algorithm of multi-sensor fusion is applied to detecting and tracking the guiding vehicle. Then an anti-interference feedback controller is designed for speed tracking and an emergency braking algorithm is designed to improve the safety of emergency. A lateral controller according to kinematic model is designed for lateral tracking. Furthermore, the robustness and adaptability of the proposed method are validated by joint simulations of Carsim and MATLAB/Simulink. Finally, the system is deployed on an electric unmanned vehicle to realize vehicle autonomous following with a maximum speed of 35 km/h on a 3.6 km stretch of road with bump, muddy and continuous curves. The results demonstrate the accuracy of detection and the stability of the tracking.",
keywords = "Automated driving, Emergency braking, Vehicle following",
author = "Shuaicong Yang and Mengyin Fu and Yi Yang and Di Tang and Wenjie Song and Man Zhang",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Unmanned Systems, ICUS 2020 ; Conference date: 27-11-2020 Through 28-11-2020",
year = "2020",
month = nov,
day = "27",
doi = "10.1109/ICUS50048.2020.9274984",
language = "English",
series = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1173--1179",
booktitle = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
address = "United States",
}