Longitudinal transition maneuvers in an automated highway system

被引：15

作者：

Connolly, TR ^{[1
]}

Hedrick, JK ^{[1
]}

机构：

[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1999年 / 121卷 / 03期

关键词：

D O I：

10.1115/1.2802498

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The control structure for automated vehicles in art Automated Highway System is based on the idea of multiple-surface sliding control. The "upper" surface determines a desired net torque while the "lower" surface determines the required throttle angle or brake pressure needed to achieve the desired torque. This paper presents an upper surface control law for performing longitudinal transition maneuvers. The maneuvers use desired velocity trajectories which are based art maintaining safety and comfort throughout the maneuver. The control law chosen is a sliding controller due to the nonlinearities in the dynamics and the uncertainties in the parameters. Adaptive techniques were also implemented to help improve the velocity tracking. The controller was implemented on experimental vehicles and tested at highway speeds.

引用

页码：471 / 478

页数：8

共 13 条

[1]

BAREKET Z, 1994, AUVS DETR MI

[2]

FRANKEL J, 1995, IN PRESS VEHICLE SYS

[3]

GERDES JC, 1996, 1996 IFAC C SAN FRAN

[4]

Hedrick J. K., 1991, Proceedings of the 1991 American Control Conference (IEEE Cat. No. 91CH2939-7), P3107

[5]

HEDRICK JK, 1993, ITS PUBLICATION

[6]

McMahon D. H., 1990, Proceedings of the 1990 American Control Conference (IEEE Cat. No.90CH2896-9), P297

[7]

NARENDRAN VK, 1992, TRANSPORTATION SYSTE, V44, P269

[8]

SHEVITZ D, 1909, ASME DSC, V53

[9]

SKLAR SJ, 1979, IEEE T VEHICULAR TEC, V28

[10]

SLOTINE JJE, 1991, 9603 OH STAT U CTR I

← 1 2 →