A COMPARISON OF SPACING AND HEADWAY CONTROL LAWS FOR AUTOMATICALLY CONTROLLED VEHICLES

In this paper two different longitudinal control policies for automatically controlled vehicles are investigated. One is based on maintaining a constant spacing between the vehicles while the other is based upon maintaining a constant headway (or time) between successive vehicles. To avoid collisions in the platoon, controllers have to be designed to ensure string stability, i.e. the spacing errors should not get amplified as they propagate upstream from vehicle to vehicle. A measure of string stability is introduced and a systematic method of designing constant spacing controllers which guarantee string stability is presented. The constant headway policy does not require inter-vehicle communication to assure string stability. Also, since inter-vehicle communication is not required it can be used in systems with mixed automated-nonautomated vehicles, for example for AICC (Autonomous Intelligent Cruise Control). It is shown in this paper that for all the autonomous headway control laws, the desired control torques are inversely proportional to the headway time. (A)

  • Availability:
  • Corporate Authors:

    Swets & Zeitlinger

    P.O. Box 825
    2160 SZ Lisse,   Netherlands 
  • Authors:
    • Swaroop, D
    • Hedrick, J Karl
    • Chien, C C
    • IANNOU, P
  • Publication Date: 1994-11

Language

  • English

Media Info

  • Features: References;
  • Pagination: p. 597-625
  • Serial:

Subject/Index Terms

Filing Info

  • Accession Number: 00675133
  • Record Type: Publication
  • Source Agency: Transport Research Laboratory
  • Files: ITRD, ATRI
  • Created Date: Mar 28 1995 12:00AM