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.


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    Title :

    On the design of a vehicle longitudinal controller


    Additional title:

    Ueber den Entwurf eines Longitudinalcontrollers fuer Fahrzeuge


    Contributors:

    Published in:

    Publication date :

    1985


    Size :

    6 Seiten, 17 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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