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Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100083, China
Information Technology Center,Tsinghua University, Beijing 100083, China
The Institute of Electronic System Engineering, Beijing 100039, China
Author to whom correspondence should be addressed.
Sustainability 2017, 9(12), 2259;
Received: 21 October 2017 / Revised: 29 November 2017 / Accepted: 29 November 2017 / Published: 6 December 2017
PDF [968 KB, uploaded 7 December 2017]


Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability. View Full-Text
Keywords: Gauss cloud model; longitudinal control; autonomous vehicle Gauss cloud model; longitudinal control; autonomous vehicle

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Gao, H.; Zhang, X.; Liu, Y.; Li, D. Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model. Sustainability 2017, 9, 2259.

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