This paper presents the vehicle model and the longitudinal controller used for automated vehicle control. The vehicle model consists of four state equations governing the dynamics of the overall vehicle, brake, and engine. A three-layer robust controller is then developed based on this model. The top layer is a simple sliding controller translating desired acceleration into a “synthetic input” for the middle switching logic layer to decide whether engine or brake torque is needed. The bottom layer has two Dynamics Surface Controllers (DSC); one for the engine, and one for the brake. Thus, the overall vehicle control task is decoupled from the engine and brake control tasks. To address the problem of parameter uncertainties, an adaptive Dynamic Surface Controller is used. Simulation results are presented in the last section.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    COORDINATED THROTTLE/BRAKE CONTROL FOR AUTOMATIC HIGHWAY SYSTEMS


    Contributors:
    Yip, P.P. (author) / Poon, C.S. (author) / Hedrick, J.K. (author)

    Published in:

    Vehicle System Dynamics ; 29 , sup1 ; 161-191


    Publication date :

    1998-01-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Coordinated throttle/brake control for automatic highway systems

    Yip,P.P. / Poon,C.S. / Hedrick,J.K. et al. | Automotive engineering | 1998


    Coordinated Throttle/Brake Control for Automatic Highway Systems

    Yip, P. P. / Poon, C. S. / Hedrick, J. K. et al. | British Library Conference Proceedings | 1998


    Throttle and Brake Combined Control for Intelligent Vehicle Highway Systems

    Choi, S.-B. / Devlin, P. / Society of Automotive Engineers | British Library Conference Proceedings | 1995


    Throttle and brake combined control for intelligent vehicle highway systems

    Choi,S.B. / Devlin,P. / Univ.of California,Berkeley,US | Automotive engineering | 1995