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Authors
Song, Bongsob; Chwa, Dongkyoung; Baek, Woonhyuk; Jang, Seyong; Song, Hoin; Kim, Soontae

Identifier
10.3182/20080706-5-KR-1001.01607

Index Terms
Control technology in the automotive industry

Abstract
This paper presents development of a longitudinal controller for an autonomous All-Terrain Vehicle (ATV). The developed ATV is a Controller Area Network (CAN) based distributed control system including multiple processors. Before developing the longitudinal controller, it is shown that the worst case response time of messages via CAN is bounded by appropriate assignment of priorities to all messages. Then, a control model for longitudinal control of ATV is proposed and validated experimentally. Finally, the longitudinal controller for ATV, based on a nonlinear control technique so-called Dynamic Surface Control (DSC), is designed and validated via simulation whether it can compensate for the worst case time delay and packet loss resulting from CAN communications.

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