An experimental implementation of a shared vehicle longitudinal controller at low speed is presented. The main objective is the increase of traffic capacity while improving safety and comfort. The longitudinal control method used is based on a second order sliding mode technique. The central controller is based on the management of inter-vehicular spacing in relation to vehicle speed. Results are presented both by simulation and by use of an experimental process with a vehicle prototype which is equipped with the required sensors and actuators. A number of scenarios are tested under usual traffic conditions such as stop-and-go, stopping at obstacles and car-following with merging/overtaking. Finally, the positive impact of such a system is given in terms of traffic capacity enhancement and collision gravity reduction.
Experimental vehicle longitudinal control using a second order sliding mode technique
Gleitmodus-Längsregelung zweiter Ordnung für ein Versuchsfahrzeug
Control Engineering Practice ; 15 , 8 ; 943-954
2007
12 Seiten, 13 Bilder, 1 Tabelle, 21 Quellen
Article (Journal)
English
Minimum Sensor Second-Order Sliding Mode Longitudinal Control of Passenger Vehicles
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