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TECHNICAL PAPERS

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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References

United States Department of Transportation, NHTSA, FARS and GES, 1992, “Fatal Accident Reporting System (FARS) and General Estimates System (GES).”
Choi, S. B., and Hedrick, J. K., 1995, “Vehicle Longitudinal Control Using an Adaptive Observer for Automated Highway Systems,” Proceedings of American Control Conference, Seattle, Washington.
Choi, S. B., and Devlin, P., 1995, “Throttle and Brake Combined Control for Intelligent Vehicle Highway System,” SAE 951897.
Tan, H. S., Guldner, J., Chen, C., and Patwardhan, S., 1998, “Lane Changing on Automated Highways with Look Down Reference Systems,” Proceedings of the IFAC Workshop on Advances in Automotive Control, Feb.
Tomizuka, M., and Hedrick, J. K., 1993, “Automated Vehicle Control for IVHS Systems,” Proceedings of the IFAC Conference, Sydney.
Swaroop,  D., and Hedrick,  J. K., 1996, “String Stability of Interconnected Dynamic Systems,” IEEE Trans. Autom. Control, 41, No. 3, pp. 349–357.
Swaroop,  D., Hedrick,  J. K., Chien,  C. C., and Ioannou,  P., 1994, “A Comparison of Spacing and Headway Control Laws for Automatically Controlled Vehicles,” Vehicle Syst. Dynam. J., 23, No. 8, Nov., pp. 597–625.
Yanakiev, D., and Kanellakopoulos, I., 1995, “Variable Time Headway for String Stability of Automated Heavy-Duty Vehicles,” Proceedings of the 34th IEEE Conference on Decision and Control, New Orleans, LA, Dec., pp. 4077–4081.
Rajamani, R., and Zhu. C., 1999, “Semi-Autonomous Adaptive Cruise Control Systems,” Proceedings of the 1999 American Control Conference, San Diego, June 3–5.
Slotine, J. J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice-Hall, NJ.
Hedrick, J. K., McMahon, D., Narendran, V. K., and Swaroop, D., 1991, “Longitudinal Vehicle Controller Design for IVHS Systems,” Proceedings of the 1991 American Control Conference, Vol. 3, June, pp. 3107–3112.
Hedrick,  J. K., McMahon,  D., and Swaroop,  D., 1993, “Vehicle Modeling and Control for Automated Highway Systems,” PATH Research Report, UCB-ITS-PRR-93-24.

Figures

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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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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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