Constant Spacing Strategies for Platooning in Automated Highway Systems

1999 ◽  
Vol 121 (3) ◽  
pp. 462-470 ◽  
Author(s):  
D. Swaroop ◽  
J. K. Hedrick
Keyword(s):  
Controller Design ◽  
Control Algorithms ◽  
Asymptotically Stable ◽  
Dynamic Coupling ◽  
Dynamic Interactions ◽  
Control Laws ◽  
Automated Highway Systems ◽  
Automated Highway ◽  
Available Information ◽  
Highway System

An important aspect of an Automated Highway System is automatic vehicle following. Automatic Vehicle follower systems must address the problem of string stability, i.e., the problem of spacing error propagation, and in some cases, amplification upstream from one vehicle to another, due to some disturbance at the head of the platoon. An automatic vehicle following controller design that is (asymptotically) stable for one vehicle following another is not necessarily (asymptotically) stable for a string of vehicles. The dynamic coupling between vehicles in such close-formation platoons is a function of the available information (communicated as well as sensed), decentralized feedback control laws and the vehicle spacing policy in use. In the first half of this paper, we develop a framework for establishing conditions for stability of the string in the presence of such dynamic interactions. We then develop a metric for analyzing the performance of a platoon resulting from different vehicle following control algorithms. This metric is the guaranteed rate of attenuation/non-amplification of spacing errors from one vehicle to another. In the latter half of this paper, we outline and analyze various constant spacing vehicle follower algorithms. All these algorithms are analyzed for sensing/actuation lags.

Regulation Layer Controller Design for Automated Highway System

1994 ◽  
Vol 27 (13) ◽  
pp. 357-362
Author(s):  
C.C. Chien ◽  
Y. Zhang ◽  
M. Lai ◽  
A. Hammad ◽  
C.K. Chu
Keyword(s):  
Controller Design ◽  
Automated Highway ◽  
Highway System

An Overview on Control Algorithms for Automated Highway Systems

2001 ◽  
Vol 13 (4) ◽  
pp. 381-386
Author(s):  
Sadayuki Tsugawa ◽  
Keyword(s):  
Feedback Control ◽  
Vehicle Control ◽  
Control Algorithms ◽  
State Variables ◽  
Relative Speed ◽  
Automated Highway Systems ◽  
Vehicle Communication ◽  
State Variable ◽  
Preceding Vehicle ◽  
Automated Highway

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.

Axiomatic Approach To Developing Partial Automation Concepts for Deployment of Automated Highway Systems and Partial Invocation of Vision-Based Lane-Keeping and Adaptive Cruise Control

1998 ◽  
Vol 1651 (1) ◽  
pp. 74-79 ◽  
Author(s):  
H.-S. Jacob Tsao
Keyword(s):  
Axiomatic Approach ◽  
Cruise Control ◽  
Highway Capacity ◽  
Automated Highway Systems ◽  
Pros And Cons ◽  
Capacity Gain ◽  
Automated Highway ◽  
Lane Keeping ◽  
Highway System ◽  
Partial Automation

Discussions about the pros and cons of the automated highway system (AHS) visions are nothing but intellectual exercises unless the issue of how to evolve the current highway system toward this end state can be resolved. The primary motivation for the AHS is its potential for considerable highway capacity gain without major acquisition of right-of-way. Many believe that such capacity gain is possible only when lanes are dedicated to the use of those vehicles equipped for full automation. However, to avoid the empty-lane syndrome, there must exist a sufficient population of automation-equipped vehicles that can use the dedicated lane at once or shortly thereafter. Also, if such automation-equipped vehicles can be used only on such dedicated lanes, few people would purchase such vehicles before dedication of lanes on a network basis, the well-known “chicken-and-egg” problem. In this paper partial-automation concepts are proposed that help solve this chicken-and-egg problem. Because of the futuristic nature of the AHS, many technological and nontechnological questions cannot be answered definitely. Assumptions must first be made about the likely or reasonable answers to such questions and then requirements derived for partial-automation concepts based on these assumptions. The goal is for the inferencing process to be rigorous and correct so that only the assumptions are to be debated. The author believes that the assumptions made are reasonable and therefore that the requirements for partial-automation concepts and the actual partial-automation concepts proposed are necessary. Most important, it is hoped that this approach will facilitate a more rigorous process in exchanging ideas and debating AHS deployment issues.

Intermediate Automation Concepts for Incremental Deployment of Automated Highway Systems

1998 ◽  
Vol 1651 (1) ◽  
pp. 111-116 ◽  
Author(s):  
Mohamed Alkadri ◽  
Hamed Benouar ◽  
H.-S. Jacob Tsao
Keyword(s):  
Social Change ◽  
Public Acceptance ◽  
Market Demand ◽  
Evolutionary Path ◽  
Automated Highway Systems ◽  
Technology Markets ◽  
Evolution Of Technology ◽  
Automated Highway ◽  
Highway System ◽  
Partial Automation

Automated highway systems (AHS) are a promising concept whose implementation needs to take place in a modular and incremental manner. Immediate implementation of a fully automated highway system may not be feasible or desirable. It does not allow for the necessary testing and evolution of technology, markets, and social change. Recognizing the importance and challenge of progressive, evolutionary AHS deployment, six deployment assumptions are presented, three deployment issues are discussed, and several intermediate automation concepts for evolution toward AHS are proposed. Concepts are presented in the form of “market packages.” Some of these concepts are simple driver aiding systems; others are capable of supporting hands-off and feet-off driving. In the evolutionary path to AHS, a number of comfort and safety enhancements could be realized initially without large infrastructure modifications and without dedicated lanes. Intermediate deployment steps are necessary to help early deployment of partial automation, to allow AHS technology to mature, to establish user confidence, and to create market demand and public acceptance. The packages presented are designed so that they attract the driving public with comfort and safety benefits while requiring no significant roadway infrastructure modification and they encourage motorists to purchase (or retrofit) vehicles with equipment that enables hands-off and feet-off driving, thus building confidence in and creating demand for AHS.

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