{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,14]],"date-time":"2026-03-14T05:25:55Z","timestamp":1773465955044,"version":"3.50.1"},"reference-count":33,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2018,3,29]],"date-time":"2018-03-29T00:00:00Z","timestamp":1522281600000},"content-version":"vor","delay-in-days":87,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"ESCEL Project ENABLE-S3","award":["692455-2"],"award-info":[{"award-number":["692455-2"]}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2018,1]]},"abstract":"<jats:p>Advanced Driver Assistance Systems (ADAS) acting over throttle and brake are already available in level 2 automated vehicles. In order to increase the level of automation new systems need to be tested in an extensive set of complex scenarios, ensuring safety under all circumstances. Validation of these systems using real vehicles presents important drawbacks: the time needed to drive millions of kilometers, the risk associated with some situations, and the high cost involved. Simulation platforms emerge as a feasible solution. Therefore, robust and reliable virtual environments to test automated driving maneuvers and control techniques are needed. In that sense, this paper presents a use case where three longitudinal low speed control techniques are designed, tuned, and validated using an in\u2010house simulation framework and later applied in a real vehicle. Control algorithms include a classical PID, an adaptive network fuzzy inference system (ANFIS), and a Model Predictive Control (MPC). The simulated dynamics are calculated using a multibody vehicle model. In addition, longitudinal actuators of a Renault Twizy are characterized through empirical tests. A comparative analysis of results between simulated and real platform shows the effectiveness of the proposed framework for designing and validating longitudinal controllers for real automated vehicles.<\/jats:p>","DOI":"10.1155\/2018\/7615123","type":"journal-article","created":{"date-parts":[[2018,3,29]],"date-time":"2018-03-29T23:31:37Z","timestamp":1522366297000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":37,"title":["Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7106-0922","authenticated-orcid":false,"given":"Mauricio","family":"Marcano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9 A.","family":"Matute","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ray","family":"Lattarulo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Enrique","family":"Mart\u00ed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joshu\u00e9","family":"P\u00e9rez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2018,3,29]]},"reference":[{"key":"e_1_2_8_1_2","unstructured":"Graham Cookson Europes Traffic Hotspots Measuring the impact of congestion INRIX Research 2016."},{"key":"e_1_2_8_2_2","doi-asserted-by":"crossref","unstructured":"Connectivity and Automated Driving Automated Driving Roadmap ERTRAC Working Group 2017 https:\/\/doi.org\/10.1007\/978-3-319-31895-0.","DOI":"10.1007\/978-3-319-31895-0"},{"key":"e_1_2_8_3_2","unstructured":"On-Road Automated Vehicle Standards Committee SAE Taxonomy and definitions for terms related to onroad motor vehicle automated driving systems 2014."},{"key":"e_1_2_8_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2278494"},{"key":"e_1_2_8_5_2","doi-asserted-by":"crossref","unstructured":"JinX. YinG. andWangJ. Robust fuzzy control for vehicle lateral dynamic stability via Takagi-Sugeno fuzzy approach Proceedings of the 2017 American Control Conference ACC 2017 May 2017 Seattle WA USA 5574\u20135579 https:\/\/doi.org\/10.23919\/ACC.2017.7963822 2-s2.0-85027027588.","DOI":"10.23919\/ACC.2017.7963822"},{"key":"e_1_2_8_6_2","unstructured":"Benjamin Englanderet al. Collision Avoidance System for Buses Managing Pedestrian Detection and Alerts Near Bus Stops Proceedings of the 25th International Technical Conference on the Enhanced Safety of Vehicles (ESV) National Highway Traffic Safety Administration 2017 Detroit Michigan USA."},{"key":"e_1_2_8_7_2","unstructured":"Mariano Sans Semi-automatic method for assisting with parking a motor vehicle and associated device US Patent 9 731 715. 2017."},{"key":"e_1_2_8_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tra.2016.09.010"},{"key":"e_1_2_8_9_2","volume-title":"Autonomous Vehicle Technology: A Guide for Policymakers","author":"James Anderson M.","year":"2014"},{"key":"e_1_2_8_10_2","unstructured":"Waymo Waymo Safety Report On The Road to Fully Self-Drivin Safety Report 2017."},{"key":"e_1_2_8_11_2","doi-asserted-by":"crossref","unstructured":"BouniniF. GingrasD. LapointeV. andPollartH. Autonomous Vehicle and Real Time Road Lanes Detection and Tracking Proceedings of the 12th IEEE Vehicle Power and Propulsion Conference VPPC 2015 October 2015 Canada 2-s2.0-84962808832 https:\/\/doi.org\/10.1109\/VPPC.2015.7352903.","DOI":"10.1109\/VPPC.2015.7352903"},{"key":"e_1_2_8_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-20855-8_3"},{"key":"e_1_2_8_13_2","doi-asserted-by":"crossref","unstructured":"KhastgirS. BirrellS. DhadyallaG. andJenningsP. Development of a drive-in driver-in-the-loop fully immersive driving simulator for virtual validation of automotive systems Proceedings of the 81st IEEE Vehicular Technology Conference VTC Spring 2015 May 2015 Glasgow UK https:\/\/doi.org\/10.1109\/VTCSpring.2015.7145775 2-s2.0-84940426430.","DOI":"10.1109\/VTCSpring.2015.7145775"},{"key":"e_1_2_8_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2011.2148673"},{"key":"e_1_2_8_15_2","doi-asserted-by":"publisher","DOI":"10.1080\/10248079408903805"},{"key":"e_1_2_8_16_2","doi-asserted-by":"crossref","unstructured":"David Gonz\u00e1lezandJoshu\u00e9 P\u00e9rez Control architecture for Cybernetic Transportation Systems in urban environments Proceedings of the 2013 IEEE Intelligent Vehicles Symposium IEEE IV 2013 June 2013 Australia 1119\u20131124 https:\/\/doi.org\/10.1109\/IVS.2013.6629616 2-s2.0-84892412712.","DOI":"10.1109\/IVS.2013.6629616"},{"key":"e_1_2_8_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.043"},{"key":"e_1_2_8_18_2","doi-asserted-by":"crossref","unstructured":"Joshu\u00e9 P\u00e9rezet al. Trajectory generator for autonomous vehicles in urban environments Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u203213) May 2013 Karlsruhe Germany 409\u2013414 https:\/\/doi.org\/10.1109\/ICRA.2013.6630608.","DOI":"10.1109\/ICRA.2013.6630608"},{"key":"e_1_2_8_19_2","doi-asserted-by":"publisher","DOI":"10.1023\/B:MUBO.0000044421.04658.de"},{"key":"e_1_2_8_20_2","unstructured":"CuadradoJ. VilelaD. IglesiasI. Mart\u00ednA. andPe\u00f1aA. A multibody model to assess the effect of automotive motor in-wheel configuration on vehicle stability and comfort Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2013 1083\u20131092 2-s2.0-84893070447."},{"key":"e_1_2_8_21_2","doi-asserted-by":"publisher","DOI":"10.6036\/5177"},{"key":"e_1_2_8_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2060722"},{"key":"e_1_2_8_23_2","volume-title":"Advanced PID Control","author":"Karl Johan \u00c5str\u00f6m","year":"2006"},{"key":"e_1_2_8_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2014.09.015"},{"key":"e_1_2_8_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2007.18"},{"key":"e_1_2_8_26_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)62005-6"},{"key":"e_1_2_8_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.256541"},{"key":"e_1_2_8_28_2","doi-asserted-by":"publisher","DOI":"10.1504\/ijvas.2005.008237"},{"key":"e_1_2_8_29_2","doi-asserted-by":"crossref","unstructured":"JiangH. WangZ. ChenQ. andZhuJ. Obstacle avoidance of autonomous vehicles with CQP-based model predictive control Proceedings of the 2016 IEEE International Conference on Systems Man and Cybernetics SMC 2016 October 2016 Hungary 1668\u20131673 2-s2.0-85015807117 https:\/\/doi.org\/10.1109\/SMC.2016.7844477.","DOI":"10.1109\/SMC.2016.7844477"},{"key":"e_1_2_8_30_2","doi-asserted-by":"crossref","unstructured":"Ray Lattaruloet al. A Speed Planner Approach Based On Bzier Curves Using Vehicle Dynamic Constrains and Passengers Comfort in the Proceedings of the The International Symposium on Circuits and Systems 2018 Florence Italy.","DOI":"10.1109\/ISCAS.2018.8351307"},{"key":"e_1_2_8_31_2","doi-asserted-by":"publisher","DOI":"10.4271\/2004-01-2065"},{"key":"e_1_2_8_32_2","unstructured":"HouskaB.et al. ACADO Toolkit Users Manual http:\/\/www.acadotoolkit.org. 2009\u20132013."},{"key":"e_1_2_8_33_2","unstructured":"AriensD. HouskaB. andFerreauH. J. ACADO for Matlab Users Manual http:\/\/www.acadotoolkit.org. 2010\u20132011."}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/7615123.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2018\/7615123.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2018\/7615123","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T22:34:45Z","timestamp":1723156485000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2018\/7615123"}},"subtitle":[],"editor":[{"given":"Victor M.","family":"Becerra","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2018,1]]},"references-count":33,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2018,1]]}},"alternative-id":["10.1155\/2018\/7615123"],"URL":"https:\/\/doi.org\/10.1155\/2018\/7615123","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,1]]},"assertion":[{"value":"2017-11-24","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-02-19","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-03-29","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"7615123"}}