A Dual Closed-loop Longitudinal Speed Controller Using Smooth Feedforward and Fuzzy Logic for Autonomous Driving Vehicles

The performance of longitudinal control directly affects the safety and ride comfort of autonomous driving vehicles. For autonomous driving vehicles, the driving torque depends on the engines characteristics, which is difficult to build accurate model. In addition, the nonlinear and response lag of the power system will lead to drastic changes and oscillations of speed tracking, which will signifi...