This paper summarizes the design of a throttle and brake combined controller and experimental work done for the longitudinal control of autonomous vehicles. This paper presents a sliding mode based longitudinal control law, brake system sub-model, brake control law and a throttle/brake switching algorithm. The developed control strategies were implemented on a test vehicle and the longitudinal combined controls tested with a single vehicle using a predetermined trajectory of desired speed as a function of time. These initial test results showed good tracking, good ride quality and smooth switching between throttle and brake.
Throttle and Brake Combined Control for Intelligent Vehicle Highway Systems
Sae Technical Papers
Future Transportation Technology Conference & Exposition ; 1995
1995-08-01
Aufsatz (Konferenz)
Englisch
Throttle and Brake Combined Control for Intelligent Vehicle Highway Systems
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