LONGITUDINAL VEHICLE CONTROL FOR AUTOMATED DRIVING BY USE OF SLIDING CONTROL

In this paper, longitudinal automated vehicle control--as a study of advanced vehicle control systems (AVCS), which is the subclass of intelligent transportation systems (ITS)--is investigated by both simulations and experiments. First, a vehicle model is constructed that is used in simulations and experiments. The vehicle model contains nonlinear characteristics of an automobile, such as the engine, the torque converter, and the automatic transmission map. Sliding control, one of nonlinear control methods, is used for vehicle control and compared with PID control, which is a primitive control. In simulations and experiments, a platoon of two vehicles is investigated. The throttle of the following vehicle is controlled by use of sliding control or PID control so that it can follow the lead car and keep the target distance between vehicles. In this paper, the following conclusions are derived. Sliding control has better stability and more rapid convergence of the distance between vehicle than PID control. Especially when initial deviation from the target state is large, sliding control performs better. Both control methods are robust in relation to modeling errors, such as those of the engine characteristics. The vehicle model that is developed in this paper represents good longitudinal vehicle dynamics for automated driving, including the nonlinear elements of an automobile since the results of simulations are in good agreement with those of experiments.

• Supplemental Notes:
  • Five volumes of papers and one volume of abstracts comprise the published set of conference materials.
• Corporate Authors:

  VERTIS

  TORANOMOM 34 MORI BUILDING 1-25-5
  TORANOMON, MINATOKU, TOKYO 105  Japan 
• Authors:
  • FUJIOKA, T
  • Baba, J
  • Aso, M
• Conference:
  • Steps Forward. Intelligent Transport Systems World Congress
  • Location: Yokohama, Japan
  • Date: 1995-11-9 to 1995-11-11
• Publication Date: 1995-11

Language

• English

Media Info

• Pagination: p. 1245

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Alternatives analysis; Intelligent transportation systems; Longitudinal control; Nonlinear systems; Simulation; Sliding mode control; Traffic platooning
• Geographic Terms: Japan
• Old TRIS Terms: Automatic vehicle control; Models-simulation; Sliding control
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 00722068
• Record Type: Publication
• Report/Paper Numbers: Volume 3
• Files: TRIS
• Created Date: Jun 27 1996 12:00AM