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.


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    Title :

    Throttle and Brake Combined Control for Intelligent Vehicle Highway Systems


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    Future Transportation Technology Conference & Exposition ; 1995



    Publication date :

    1995-08-01




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English



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