This paper presents a combined engine and brake controllerfor automated highway vehicles incorporatingthe ideas of multiple-surface sliding control. The controller consists of three elements: a task-dependent 'upper' sliding controller that incorporates vehicle acceleration as a synthetic input, a switching logic that choses between brake or throttle control and individual 'lower' sliding controllers for the brake and engine dynamics. In particular, the introduction of the brake control scheme and switching logic represent a substantial improvement over previous work. Experimental results show that the closed-loop system is capable of tracking velocity profiles within 0.1 m/s and following a maneuvering lead car at a distance of 2 meters with only 20 centimeter error.
Vehicle speed and spacing control via coordinated throttle and brake actuation
Fahrzeuggeschwindigkeits- und Abstandsregelung durch koordinierte Drosselklappen- und Bremsbetätigung
World Congress of IFAC, 13 ; 183-188
1996
6 Seiten, 7 Bilder, 8 Quellen
Conference paper
English
Vehicle speed and spacing control via coordinated throttle and brake actuation
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