Vehicle Longitudinal Control Using Discrete Markers

In this report, a hybrid observer is proposed as a method of estimating position and velocity of a vehicle when the primary output is a series of discrete magnetic markers placed along a roadway. For the preliminary studies, the vehicle was modeled as a pure inertial system with acceleration input. Two methods of determining the time "tk" at which the "k-th" marker is passed are discussed, and simulations using both methods are shown. Compensation for errors arising due to inaccurate measurement of this time is proposed and validated. A Proportional- Integral-Derivative (PID) controller acting on error signals from the hybrid observer is also developed and simulated. An "optimal" trajectory for marker advance/fallback and velocity change commands is calculated and verified in simulation, and its effects on the PID controller are discussed.

[1]  Masayoshi Tomizuka,et al.  Experimental Automatic Lateral Control System for an Automobile , 1992 .

[2]  Masayoshi Tomizuka,et al.  Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System , 1995 .

[3]  Masayoshi Tomizuka,et al.  An Experimental Study on Lateral Control of a Vehicle , 1991, 1991 American Control Conference.

[4]  Masayoshi Tomizuka,et al.  AUTOMATED VEHICLE CONTROL FOR IVHS SYSTEMS , 1993 .

[5]  J. K. Hedrick,et al.  Vehicle Modelling and Control for Automated Highway Systems , 1990, 1990 American Control Conference.

[6]  Katsuhiko Ogata,et al.  Discrete-time control systems , 1987 .

[7]  J.K. Hedrick,et al.  Longitudinal Vehicle Controller Design for IVHS Systems , 1991, 1991 American Control Conference.

[8]  Charles A. Desoer,et al.  Combined Longitudinal and Lateral Control of a Platoon of Vehicles , 1992, 1992 American Control Conference.

[9]  Masayoshi Tomizuka,et al.  A Theoretical and Experimental Study on Vehicle Lateral Control , 1992, 1992 American Control Conference.

[10]  M. Tomizuka,et al.  Normal and emergency control of a string of vehicles by fixed reference sampled-data control , 1971 .

[11]  Masayoshi Tomizuka,et al.  Preview Control for Vehicle Lateral Guidance in Highway Automation , 1991, 1991 American Control Conference.

[12]  D. Swaroop,et al.  Longitudinal Vehicle Controllers for IVHS: Theory and Experiment , 1992, 1992 American Control Conference.

[13]  Costas N. Georghiades,et al.  A Position Estimation Algorithm for Vehicle Following , 1992, 1992 American Control Conference.

[14]  Petros A. Ioannou,et al.  Automatic Vehicle-Following , 1992, 1992 American Control Conference.