NDLI: Longitudinal and lateral control system development for a platoon of vehicles

Content Provider	IEEE Xplore Digital Library
Author	Lee, G.D. Kim, S.W. Yim, Y.U. Jung, J.H. Oh, S.Y. Kim, B.S.
Copyright Year	1999
Description	Author affiliation: Dept. of Electron. & Electr., POSTECH Univ., Pohang, South Korea (Lee, G.D.)
Abstract	This paper presents a control algorithm for a platoon of vehicles. The longitudinal controller is composed of a headway controller and a velocity/acceleration controller. MMW radar is used to sense the range to the preceding vehicle for headway control. The velocity of the leading vehicle together with the headway distance to the preceding vehicle and its rate is used to derive the headway control laws without the need for headway information from other vehicles. It is shown that the suggested headway controller guarantees the string stability under certain conditions. The velocity/acceleration controller is designed by using a fuzzy-sliding mode control algorithm. On the other hand, an inductive wire is used to measure the lateral deviation and a fuzzy-like gain-scheduled PD controller tracks the inductive wire to keep the lateral deviation as small as possible. The performance of the suggested controller is illustrated by simulations and road tests in which vehicles follow one another at 10 meter spacings at a peak velocity of 80 kilometers per hour.
Starting Page	605
Ending Page	610
File Size	489387
Page Count	6
File Format	PDF
ISBN	078034975X
DOI	10.1109/ITSC.1999.821130
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Velocity control Vehicles Acceleration Wire Radar Stability Algorithm design and analysis Gain measurement PD control
Content Type	Text
Resource Type	Article

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