scholarly journals Vehicle control for automated highway systems for improved lateral maneuverability

Author(s):  
P. Kachroo ◽  
M. Tomizuka
2001 ◽  
Vol 13 (4) ◽  
pp. 381-386
Author(s):  
Sadayuki Tsugawa ◽  

This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, relative speed, and relative acceleration, some of which are obtained by the transmission over inter-vehicle communication rather the measurement, is used to maintain a predetermined gap in a platoon. Lateral and longitudinal vehicle control algorithms are explained with references to some systems developed since 1960's.


1997 ◽  
pp. 29-48 ◽  
Author(s):  
Youngbin Yim ◽  
Mark A. Miller ◽  
Paul Hellman ◽  
Mohammad Sharafsaleh

1997 ◽  
pp. 213-246 ◽  
Author(s):  
Ioannis Kanellakopoulos ◽  
Masayoshi Tomizuka

Due to the ever increasing need for transportation, there will be increasingly automobile overloads except if some sweeping measures are taken. There are numerous conceivable approaches to diminish blockage, (for example, constructing new streets, new evaluating strategies, move of transport from street to prepare or send, et cetera). In any case, since activity blockage is a squeezing issue that seriously affects both the economy and nature, there unquestionably is a requirement for measures that can be executed on the here and now. In this paper we talk about from a frameworks and control perspective a portion of the techniques that can be utilized to decrease activity clog issues. We will center around Warangal high way (NH 164) and ring streets First we quickly examine the Automated Highway Systems (AHS) structure, which prompts a decrease of activity clog and to a superior utilization of the accessible limit of the transportation organize. ATMS utilize propelled displaying, recreation, streamlining and media transmission procedures to create and to actualize different activity strategy measures to decrease movement blockage. The between vehicle detachment, which relies upon the vehicle braking ability, control circle delays and working velocity, is then used to process siteautonomous upper limits on AHS limit with regards to a given blend of vehicle classes. The affectability of the limit as for the level of between vehicle participation, registration strategies (administering least adequate vehicle-braking capacity), thruway speed cutoff points, and path utilize arrangements (overseeing the sharing of a path by numerous vehicle classes) is additionally examined.


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