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.


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    Title :

    Vehicle speed and spacing control via coordinated throttle and brake actuation


    Additional title:

    Fahrzeuggeschwindigkeits- und Abstandsregelung durch koordinierte Drosselklappen- und Bremsbetätigung


    Contributors:

    Published in:

    Publication date :

    1996


    Size :

    6 Seiten, 7 Bilder, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Vehicle speed and spacing control via coordinated throttle and brake actuation

    Gerdes, J. C. / Hedrick, J. K. / International Federation of Automatic Control | British Library Conference Proceedings | 1997



    COORDINATED THROTTLE/BRAKE CONTROL FOR AUTOMATIC HIGHWAY SYSTEMS

    Yip, P.P. / Poon, C.S. / Hedrick, J.K. | Taylor & Francis Verlag | 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