Abstract
This paper describes a longitudinal control strategy at low speed for an automated driving heavy truck, using an engine torque management technique. The object of the control task is to assist the driver in regulated queue on highway scenario, adapting speed and keeping a target distance from the preceding vehicle, until rest.
There are more problems correlated to heavy trucks longitudinal control strategies than in passengers cars, mainly due to cargo load variations, to actuators built-in saturation and to delays, which significantly complicate the control task. Hence, the longitudinal controller has been designed to be robust over a wide range of vehicle operating conditions such as weight and road gradient variations. This longitudinal control system has been installed on a IVECO Cursor 10 Heavy Truck.