Sub-Optimal Longitudinal Control of Road Vehicles With Capacity and Safety Considerations

[+] Author and Article Information
J. Sainte-Marie

INRIA—MACS Project, Domaine de Voluceau B.P. 105, F78153 Le Chesnay Cedex, Francee-mail: Jacques.Sainte-Marie@inria.fr

S. Mammar

LSC/CNRS 2494—Univ. of Evry Val d’Essonne, Boulevard F. Mitterrand F91025 ÉVRY Cedex, Francee-mail: Mammar@inrets.fr

L. Nouvelière

LIVIC—INRETS/LCPC, 13, route de la Minière F78000 Versailles, Francee-mail: nouvelie@lcpc.fr

V. Rouault

LIVIC—INRETS/LCPC, 13, route de la Minière F78000 Versailles, France

J. Dyn. Sys., Meas., Control 126(1), 26-35 (Apr 12, 2004) (10 pages) doi:10.1115/1.1648309 History: Revised August 11, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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Grahic Jump Location
(a) d̃s as a function of initial speed for different brake torques a=5 m,b=0.5 s,γmax=1.5g m.s−2,dmin=5 m and δt=0.2 s and (b) d̃s as a function of initial speed for different values of γmax and Vleadmax=∞ corresponds to d̃s=ds(Tbr*=−0.6h Mg).
Grahic Jump Location
Diagram of the algorithm
Grahic Jump Location
(a) estimation of Ci/Mi (-) and Ki/Mi (-.) and (b) variations of the position of the vehicle ahead, (—) distance measured and (--) location of the virtual vehicle.
Grahic Jump Location
(a) speed profile of followed and controlled vehicles and (b) engine speed variations, gearbox model included.
Grahic Jump Location
(a) variations of ±dJ/dt and y−x−d̃s and (b) variations of slip i in percent along the simulation, i=0 when the asymptotic model is used.
Grahic Jump Location
(a) Speed profile of followed and controlled vehicles, (b) distance between the two vehicles and distance “performed” by the controlled vehicle during 2 seconds. For t≤0, the speed of the vehicle ahead is unknown.
Grahic Jump Location
Capacities for different values of d̃s and with uniform inter-distance of 2 seconds between each vehicle, a=3 m.



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