Test bed for vehicle longitudinal control using chassis dynamometer and virtual reality: An application to adaptive cruise control

In this study, a test bed for vehicle longitudinal control is developed usi ng a chassis dynamometer and real time 3-D graphics. The proposed test bed system consists of a chassis dynamometer on which test vehicle can run long itudinally, a video system that shows virtual driver view, and computers th at control the test vehicle and realize the real time 3-D graphics. The pur pose of the proposed system is to test vehicle longitudinal control and war ning algorithms such as Adaptive Cruise Control(ACC), stop and go systems, and collision warning systems. For acceleration and deceleration situations which only need throttle movements, a vehicle longitudinal spacing control algorithm has been tested on the test bed. The spacing control algorithm h as been designed based on sliding mode control and road grade estimation sc heme which utilizes the vehicle engine torque map and gear shift informatio n.