Analysis, Design, And Evaluation Of AVCS For Heavy-duty Vehicles: Phase 1 Report

This report addresses the problem of automation of heavy-duty vehicles. After a brief description of the dynamic model used in the design and simulations, the authors develop nonlinear controllers with adaptation, first for speed control and then for vehicle follower longitudinal control. Both autonomous operation as well as intervehicle communication are considered, and the performance of the controllers in several different scenarios through simulation are evaluated.