Journal ArticleDOI
Longitudinal control of the lead car of a platoon
Datta N. Godbole,John Lygeros +1 more
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In this paper, the authors present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway, such as maintaining safe spacing, tracking an optimal velocity and performing various maneuvers (forming, breaking up platoons and changing lanes).Abstract:
Presents longitudinal control laws for vehicles moving in an intelligent vehicle highway system (IVHS). In particular, the scenario where cars move along the highway in tightly spaced platoons is considered. The authors present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given. >read more
Citations
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Journal Article
Road Vehicle Following System With Adaptive Controller Gain Using Model Reference Adaptive Control Method
TL;DR: In this paper, a one-vehicle look-ahead control strategy for road vehicle following is proposed and a mathematical model for this control strategy is obtained and simulated and further discussed to find the effectiveness of the method.
Proceedings ArticleDOI
An integrated design framework for driver/passenger-oriented trajectory planning
Li Li,Fei-yue Wang +1 more
TL;DR: In this article, an integrated trajectory planning framework for the front wheel steering vehicles equipped with digital map systems is presented, which addresses the importance of the driver and the passengers' requirement for automatic driving.
Proceedings ArticleDOI
The Application of Fuzzy Control Algorithm in the Longitudinal Control System for a Platoon of Vehicles
TL;DR: In this paper, a platoon control algorithm is presented, which does not require an exact model of a vehicle and is robust against model uncertainties, but it does not have the ability to track the command from the headway controller.
Journal ArticleDOI
Cooperative Cruise Controller for Homogeneous and Heterogeneous Vehicle Platoon System
TL;DR: A cooperative cruise controller for both homogeneous and heterogeneous vehicle platoon systems is proposed, which is capable of handling different traffic scenarios as well as being fault-tolerant to disruptions such as loss of communication between vehicles.
Report on Verification of the MoBIES Vehicle-Vehicle Automotive OEP Problem
TL;DR: This report presents the process of verifying this particular controller using the CHARON toolkit and involves modeling and simulation of the system in CHARON and verifying the controller using the authors' predicate abstraction technique for hybrid systems.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Journal ArticleDOI
Smart cars on smart roads: problems of control
TL;DR: Key features of one automated intelligent vehicle/highway system (IVHS) are outlined, it is shown how core driver decisions are improved, and a basic IVHS control system architecture is proposed and a design of some control subsystems is offered.
Smart cars on smart roads: problems of control
TL;DR: In this paper, an automated intelligent vehicle/highway system (IVHS) is described, and a four-layer hierarchical control architecture is proposed to decompose this problem into more manageable units.
Journal ArticleDOI
Automated vehicle control developments in the PATH program
Steven E Shladover,Charles A. Desoer,J.K. Hedrick,Masayoshi Tomizuka,Jean Walrand,Wei-Bin Zhang,D. H. McMahon,Huei Peng,Shahab Sheikholeslam,Nick McKeown +9 more
TL;DR: The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley are summarized in this article.
Autonomous intelligent cruise control
TL;DR: In this paper, an autonomous intelligent cruise control (AICC) system for automatic vehicle following, examine its effect on traffic flow and compare its performance with that of the human driver models.