Análisis de un control crucero adaptable en condiciones de poca visibilidad

Gabriel Alejandro Bañuelos-Peña; Allan Christopher Coronado-Andrade; Juan Eduardo Velázquez-Velázquez; Josué Daniel Rivera-Fernández; Diego Adrián Fabila-Bustos

doi:10.29057/icbi.v11iEspecial4.11428

Gabriel Alejandro Bañuelos-Peña Instituto Politécnico Nacional, UPIIH https://orcid.org/0009-0004-6344-0924
Allan Christopher Coronado-Andrade Instituto Politécnico Nacional, UPIIH https://orcid.org/0009-0005-3362-8659
Juan Eduardo Velázquez-Velázquez Instituto Politécnico Nacional, UPIIH https://orcid.org/0000-0001-9660-1182
Josué Daniel Rivera-Fernández Instituto Politécnico Nacional, UPIIH https://orcid.org/0000-0003-2967-6736
Diego Adrián Fabila-Bustos Instituto Politécnico Nacional, UPIIH https://orcid.org/0000-0002-6383-1675

DOI: https://doi.org/10.29057/icbi.v11iEspecial4.11428

Keywords: Reference model, Adaptive cruise control, computer vision, robotic vehicle

Abstract

This work presents the analysis of an adaptive cruise control system for robotic vehicles. The proposed adaptive cruise control system assists in preventing rear-end collisions in low-visibility scenarios. Collision avoidance is achieved through speed adjustment, which is dependent on the distance from the vehicle in front of the robotic vehicle. It is implemented using computer vision, adaptive control, embedded systems, and computer-aided design. The functionality of the proposed system is analyzed through tests on terrains with varying inclinations, as well as in controlled scenarios with good visibility and poor visibility. Lack of visibility is a critical scenario in this work because, in case of limited visibility in the environment, the computer vision system will stop detecting vehicles. Then, LiDAR and radar sensors will measure the distance and speed of the vehicle ahead, and based on this data, reduce or maintain the vehicle's speed.

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