Modelling and simulation of sensor-guided autonomous driving

This paper presents a modelling and simulation method for sensor-guided autonomous driving. A generic model of range sensing and object detection in 3D space is discussed first that represents their high-level functions. The low-level physical characteristics of range sensing and object detection are further investigated based on Frequency Modulated Continuous Wave (FMCW) radar which is gaining wide popularity in automotive applications. These are the enablers to modelling and simulation of vehicle interactions with one another under traffic and with surrounding environment. A closed-loop adaptive cruise control is then used as an example to demonstrate the vehicle limited autonomous driving with the proposed model and method that has been shown to be valid, effective and numerically efficient.