An overview on control algorithms for automated highway systems
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 13 (4) , 234-239
- https://doi.org/10.1109/itsc.1999.821060
Abstract
This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, relative speed, and relative acceleration, some of which are obtained by the transmission over inter-vehicle communication rather than measurement, is used to maintain a predetermined gap in a platoon. Lateral and longitudinal vehicle control algorithms are explained with references to some systems developed since 1960s.Keywords
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