CARLAシミュレータを用いた自動運転車の適応型クルーズコントロールの評価と最適化：雨天・乾燥条件下での性能に関する研究
Evaluation and Optimization of Adaptive Cruise Control in Autonomous Vehicles using the CARLA Simulator: A Study on Performance under Wet and Dry Weather Conditions
CARLAシミュレータ上で深度カメラとレーダーを用いたPID制御による適応型クルーズコントロールを構築し、雨天・乾燥時の追従性能を評価した。
著者: Roza Al-Hindaw, Taqwa I. Alhadidi, Mohammad Adas
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Adaptive Cruise Control ACC can change the speed of the ego vehicle to maintain a safe distance from the following vehicle automatically. The primary purpose of this research is to use cutting-edge computing approaches to locate and track vehicles in real time under various conditions to achieve a safe ACC. The paper examines the extension of ACC employing depth cameras and radar sensors within Autonomous Vehicles AVs to respond in real time by changing weather conditions using the Car Learning to Act CARLA simulation platform at noon. The ego vehicle controller's decision to accelerate or decelerate depends on the speed of the leading ahead vehicle and the safe distance from that vehicle. Simulation results show that a Proportional Integral Derivative PID control of autonomous vehicles using a depth camera and radar sensors reduces the speed of the leading vehicle and the ego vehicle when it rains. In addition, longer travel time was observed for both vehicles in rainy conditions than in dry conditions. Also, PID control prevents the leading vehicle from rear collisions