Longitudinal control of vehicle platoons for stop-and-go waves mitigation

2014 ◽  
Author(s):  
Constantin F. Caruntu ◽  
Cosmin Copot ◽  
Corneliu Lazar ◽  
Robin De Keyser
Keyword(s):  
Longitudinal Control ◽  
Stop And Go ◽  
Vehicle Platoons

Implementation and vehicle tests of a vehicle stop-and-go cruise control system

2002 ◽  
Vol 216 (7) ◽  
pp. 537-544 ◽  
Author(s):  
K Yi ◽  
N Ryu ◽  
H J Yoon ◽  
K Huh ◽  
D Cho ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Speed Control ◽  
Step Motor ◽  
Cruise Control ◽  
Longitudinal Control ◽  
Linear Quadratic Optimal Control ◽  
Millimetre Wave ◽  
Stop And Go ◽  
Wave Radar

Implementation and vehicle tests of a vehicle longitudinal control algorithm for stop-and-go cruise control have been performed. The vehicle longitudinal control scheme consists of a set-speed control algorithm, a speed control algorithm, and a distance control algorithm. A desired acceleration for the vehicle for the control of vehicle-to-vehicle relative speed and clearance has been designed using linear quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. Vehicle tests have been conducted using two test vehicles. A 2000 cm3 passenger car equipped with a radar distance sensor, throttle/brake actuators and a controller has been used as a subject vehicle in the vehicle tests. A millimetre wave radar sensor has been used for distance measurement. A step motor and an electronic vacuum booster have been used for throttle/brake actuators. It has been shown that the implemented vehicle longitudinal control system can provide satisfactory performance in vehicle set-speed control and vehicle clearance control at lower speeds.

Emergency Control of Vehicle Platoons: Control of Following-Law Vehicles

1976 ◽  
Vol 98 (3) ◽  
pp. 239-244 ◽  
Author(s):  
R. J. Rouse ◽  
L. L. Hoberock
Keyword(s):  
Emergency Operation ◽  
Dynamical Analysis ◽  
Normal Operation ◽  
Target Velocity ◽  
Longitudinal Control ◽  
Emergency Control ◽  
Vehicle System ◽  
Design Speed ◽  
Vehicle Platoons

This work presents a dynamical analysis of platooned following-law vehicles under longitudinal control proposed in [1]. It is shown that controller gains selected for normal operation give inadequate performance in emergency operation. Dangerous spacing in platoons moving at lower than design speed and delayed target velocity update effects are investigated. Stability of the vehicle system in emergency operation is related to controller gains, and simulations for various emergency contingencies are presented.

Vehicle-Follower Control for Dynamic Entrainment of Automated Guideway Transit Vehicles

1979 ◽  
Vol 101 (4) ◽  
pp. 314-320 ◽  
Author(s):  
S. E. Shladover
Keyword(s):  
Control System ◽  
Asymptotic Stability ◽  
Response Speed ◽  
Continuous Functions ◽  
Control Law ◽  
Longitudinal Control ◽  
Linear Controller ◽  
Vehicle Platoons ◽  
Nonlinear Control Law ◽  
Disturbance Estimator

This paper describes a method of vehicle-follower longitudinal control which has been developed to enable automated guideway transit (AGT) vehicles to join (entrain) and leave (extrain) trains or close-formation platoons (at 30 cm spacings) while traveling at cruise speed. Because a linear controller cannot be designed to have the accuracy and response speed needed for operations at very close inter-vehicular spacings without producing excessive control action at large spacings, the suggested controller is a nonlinear vehicle follower in which the gains are continuous functions of the spacing between the vehicles. The nonlinear control law is defined and its simulated behavior in a typical dynamic entrainment is shown. Sample simulated responses of nine-vehicle platoons demonstrate the asymptotic stability which the control system must have to be applicable for long platoons. The use of a disturbance estimator to resist external force loadings and the implementation of the control system using sampled, smoothed data are explained and demonstrated via simulation.

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