Design of Longitudinal Controller for Automated Driving Bus

This paper describes the design of a longitudinal controller for an automated driving bus, which is expected to be a transportation method of the future. A linear longitudinal model is presented by approximating an aerodynamic drag force and rolling resistance force in a low speed range. Then, the feedback gains of a proportional integral (PI) controller for considering the longitudinal grade of the road are determined using a root locus method, with a constraint derived from the Chien–Hrones–Reswick method. A traffic light is predicted by the vehicle, so as to pass a signalized intersection smoothly. Further, a novel adaptive cruise control method is proposed for the automated driving bus, to reduce the acceleration of the vehicle. The performance of the controller is validated through pilot tests on public roads.