A methodology for designing an automated vehicle longitudinal controller is presented and applied to an automobile characterized by velocity-dependent dynamics. The design consists of a cascade compensator, which is selected to achieve small tracking errors, and an observer/controller compensator. The controller portion was designed to achieve a velocity-invariant response, and the observer to derive the state-feedback signals. Both compensators were realized on an eight-bit microcomputer, and the vehicle dynamics were simulated on an analog computer. The performance of the resulting system was evaluated using a large-signal, entry merging command and small-signal mainline commands. Excellent results were obtained, with typical values being a maximum position error of 0.63 m during an entry maneuver and 0.15 m during a mainline maneuver; however, the designed system was sensitive to large changes in critical vehicle parameters.
On the design of a vehicle longitudinal controller
Ueber den Entwurf eines Longitudinalcontrollers fuer Fahrzeuge
IEEE Transactions on Vehicular Technology ; T-34 , 4 ; 182-187
1985
6 Seiten, 17 Quellen
Article (Journal)
English
On vehicle longitudinal controller design
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