Design and Experimental Implementation of Longitudinal Control for a Platoon of Automated Vehicles

[+] Author and Article Information
R. Rajamani

Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455

S. B. Choi

TRW, Livonia, MI

B. K. Law

Open Telephone Network, Inc., Berkeley, CA 94704

J. K. Hedrick, P. Kretz

California PATH, University of California, Berkeley, CA 94720

R. Prohaska

Integrated Materials Laboratory, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 122(3), 470-476 (Jun 24, 1998) (7 pages) doi:10.1115/1.1286682 History: Received June 24, 1998
Copyright © 2000 by ASME
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Platoon of cars—upper controller notation
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Finite state machine for car requesting an exit
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Finite state machine for vehicle behind exiting car in platoon
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Finite state machine for the lead car in the 1997 NAHSC Demonstration
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Desired speed profile for lead car
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6(a) Spacing performance of cars 6, 7 and 8 of the 8-car platoon (raw radar); (b) and (c) estimated inter-car spacing
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Desired acceleration, throttle and brake for car 8
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Speed profiles of cars 2 and 3 in the platoon
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Spacing performance of cars 2 and 3 of the 8-car platoon (raw radar)
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(a) Low speed performance of a single car; (b) low speed spacing performance



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