Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two vehicles that are equipped with developable autonomous driving system, where one can customize the upper-level control algorithm. Based on the field experimental data, two new lower-level control models are developed and compared with two widely used ones. The comparison results show that the proposed models outperform the two previous models in capturing the observed actual acceleration, especially the troughs of the acceleration time series. Furthermore, theoretical analysis indicates that comparing with the proposed models, the two previous models significantly overestimate the stability region of the traffic flow of the AVs and the capacity of stable traffic flow. Our study is expected to further shed light on the importance of accurate lower-level control modeling.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental Study and Modeling of the Lower-Level Controller of Automated Vehicle


    Beteiligte:
    Liu, Hua-Qing (Autor:in) / Zheng, Shi-Teng (Autor:in) / Jiang, Rui (Autor:in) / Tian, Junfang (Autor:in) / Yan, Ruidong (Autor:in) / Zhang, Fang (Autor:in) / Zhang, Dezhao (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2023-11-01


    Format / Umfang :

    10633021 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Automated Steering Controller for Vehicle Testing

    Sidhu, Anmol S. / Mikesell, David R. / Guenther, Dennis A. et al. | SAE Technical Papers | 2007


    Automated Steering Controller for Vehicle Testing

    Mikesell, D. R. / Sidhu, A. S. / Guenther, D. A. et al. | British Library Conference Proceedings | 2007


    Automated steering controller for vehicle testing

    Mikesell,D.R. / Sidhu,A.S. / Guenther,D.A. et al. | Kraftfahrwesen | 2007


    Controller, automated guided vehicle and method of guiding automated guided vehicle queue

    RAMOS CONTOR OSCAR DANIEL / UTTENDORF STEPHAN / DUENGEN MATTHIAS | Europäisches Patentamt | 2022

    Freier Zugriff

    Automated mixed traffic transit vehicle microprocessor controller

    Marks, R.A. / Cassell, P. / Johnston, A.R. | Tema Archiv | 1981