Autonomous Robot System for Speed Tests of Vehicle

It has become an inevitable trend that the manual driver is replaced by autonomous robot system(ARS) to conduct performance tests of vehicle. However, ARS that are currently available have low precision and it requires expensive equipment for performance analysis. In this paper, a novel ARS with an improved incremental proportional-differential controller is proposed. Firstly, two servo electric cylinders with the built-in force sensor and the code sensor are designed as actuators of brake pedal and accelerator pedal respectively. Secondly, a model of pedal opening and speed is established approximately. Thirdly, an improved incremental proportional-differential control method based on speed and acceleration preview is designed to reduce the serious delay of vehicle's response without models of vehicle and robot. Finally, some simulations and real vehicle experiments are carried out to illustrate the effectiveness the robot with the method we proposed. The results demonstrate that the error is less than 2Km/h in most cases, which can achieve promising speed tracking performance in terms of accuracy and stability.