NDLI: A practical PID-based scheme for the collaborative driving of automated vehicles

Content Provider	IEEE Xplore Digital Library
Author	Xavier, P. Ya-Jun Pan
Copyright Year	2009
Description	Author affiliation: Department of Mechanical Engineering, Dalhousie University, Halifax, Canada B3J 2X4 (Xavier, P.; Ya-Jun Pan)
Abstract	For automated vehicles operated in platoons, it is important to see what information is necessary to be communicated between vehicles to ensure safety and performance in maneuvering, and how complicated the controllers are to be implemented. In this paper, we address the platoon problem by using the decentralized proportional, integral and derivative (PID) control approach for the applications of autonomous vehicles, which are modelled as an interconnected system in the form of the well known bicycle model. The control inputs for each vehicle are the traction force and steering angle. The practical collaborative driving approach consists of two main scenarios: the leader-follower platoon and the overtaking maneuver. Only the relative position and following angle between two adjacent vehicles are required for the controller design. Simulation results and dynamic visualization using virtual reality toolbox are demonstrated to show the effectiveness of the simple and practical approach.
Starting Page	966
Ending Page	971
File Size	1333747
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400734
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collaboration Vehicle driving Vehicle safety Remotely operated vehicles Automatic control Three-term control PD control Pi control Proportional control Mobile robots
Content Type	Text
Resource Type	Article

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