FUNDAMENTAL STUDIES IN THE LONGITUDINAL CONTROL OF AUTOMATED GROUND VEHICLES
Four essential aspects of the longitudinal control of vehicles in an automated, individual-vehicle system are considered here: a) Sector-level control; b) Communications between each controlled vehicle and the sector computer; c) The development of techniques for obtaining extremely accurate estimates of a vehicle's state; and d) The control of each individual vehicle. The emphasis was on the design, development and testing of hardware subsystems essential for implementing these facets in the context of high-speed (to 93 ft/sec or 28 m/s), small time-headway (1-2 sec) operation. The accomplishments over the second year of a two-year study include: a) The development and field evaluation of techniques for obtaining accurate estimates of vehicle position and instantaneous speed--plus or minus .05 ft in 10 ft (plus or minus .015m in 3.05m) and plus or minus 0.7 ft/sec (plus or minus 0.21 m/s), respectively for one of the three approaches evaluated; b) The development of validated models for both the propulsion and braking dynamics of a typical U.S. sedan; c) The design and field testing of a vehicle controller which provided good tracking and a comfortable ride; and d) The specification of both minimal and realistic requirements for sector-level communications.
Ohio State University, ColumbusDepartment of Electrical Engineering, Transportation Control Lab
Columbus, OH United States 43210
- Fenton, R E
- Olson, K W
- Mayhan, R J
- TAKASAKI, G M
- Publication Date: 1976-12
- Pagination: 192 p.
- TRT Terms: Automatic control; Braking; Communications; Computers; Headways; Motor vehicles; Propulsion; Specifications; Speed; Traffic speed; Vehicle power plants; Vehicles
- Uncontrolled Terms: Propulsion systems
- Subject Areas: Highways; Safety and Human Factors; Vehicles and Equipment;
- Accession Number: 00179492
- Record Type: Publication
- Source Agency: Federal Highway Administration
- Report/Paper Numbers: FHWA-RD-77- 28 Final Rpt.
- Contract Numbers: DOT-FH-11-8874
- Files: TRIS, USDOT
- Created Date: Aug 27 1988 12:00AM