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Throttle And Brake Control Systems For Automatic Vehicle Following

Author

Listed:
  • Ioannou, P.
  • Xu, Z.

Abstract

In this paper, the authors present several throttle and brake control systems for automatic vehicle following. These control systems are designed and tested using a validated nonlinear vehicle model first and then actual vehicles. Each vehicle to be controlled is assumed to be equipped with sensors that, in addition to its own vehicle characteristics, provide measurements of the relative distance and relative speed between itself and the vehicle in front. Vehicle-to- vehicle communication required for the stability of the dynamics of a platoon of vehicles with desired constant intervehicle spacing is avoided. Instead, stability is guaranteed by using a constant time headway policy and designing the control system for the throttle and brake appropriately. The proposed control systems guarantee smooth vehicle following even when the leading vehicle exhibits erratic speed behavior.

Suggested Citation

  • Ioannou, P. & Xu, Z., 1994. "Throttle And Brake Control Systems For Automatic Vehicle Following," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1vb6380h, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt1vb6380h
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    Citations

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    Cited by:

    1. Anil Ufuk Batmaz & Jens Maiero & Ernst Kruijff & Bernhard E Riecke & Carman Neustaedter & Wolfgang Stuerzlinger, 2020. "How automatic speed control based on distance affects user behaviours in telepresence robot navigation within dense conference-like environments," PLOS ONE, Public Library of Science, vol. 15(11), pages 1-41, November.
    2. Jafaripournimchahi, Ammar & Cai, Yingfeng & Wang, Hai & Sun, Lu & Yang, Biao, 2022. "Stability analysis of delayed-feedback control effect in the continuum traffic flow of autonomous vehicles without V2I communication," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 605(C).
    3. Yanakiev, Diana & Eyre, Jennifer & Kanellakopoulos, Ioannis, 1998. "Longitudinal Control Of Heavy Duty Vehicles: Experimental Evaluation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt86g348m8, Institute of Transportation Studies, UC Berkeley.
    4. Vahidi, Ardalan & Stefanopoulou, Anna G. & Wang, Xiaoyong & Tsao, Tsu Chin, 2004. "Experimental Verifi cation of Discretely Variable Compression Braking Control for Heavy Duty Vehicles: Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7696q3xn, Institute of Transportation Studies, UC Berkeley.
    5. Vahidi, Ardalan & Stefanopoulou, Anna G. & Farias, Phil & Tsao, Tsu Chin, 2003. "Experimental Verification of Discretely Variable Compression Braking Control for Heavy Duty Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt70s2k62x, Institute of Transportation Studies, UC Berkeley.
    6. Xu, Z., 1995. "A Dynamic Visualization Environment For The Design And Evaluation Of Automatic Vehicle Control Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt5xj5q73q, Institute of Transportation Studies, UC Berkeley.
    7. Wen Huan Ai & Ming Ming Wang & Da Wei Liu, 2023. "Analysis of macroscopic traffic flow model considering throttle dynamics," The European Physical Journal B: Condensed Matter and Complex Systems, Springer;EDP Sciences, vol. 96(6), pages 1-18, June.
    8. Talebpour, Alireza & Mahmassani, Hani S. & Hamdar, Samer H., 2018. "Effect of information availability on stability of traffic flow: Percolation theory approach," Transportation Research Part B: Methodological, Elsevier, vol. 117(PB), pages 624-638.
    9. Li, Yongfu & Zhao, Hang & Zhang, Li & Zhang, Chao, 2018. "An extended car-following model incorporating the effects of lateral gap and gradient," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 503(C), pages 177-189.
    10. Mauricio Marcano & José A. Matute & Ray Lattarulo & Enrique Martí & Joshué Pérez, 2018. "Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms," Complexity, Hindawi, vol. 2018, pages 1-12, March.
    11. Sun, Yuqing & Ge, Hongxia & Cheng, Rongjun, 2019. "A car-following model considering the effect of electronic throttle opening angle over the curved road," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 534(C).
    12. Malik, J. & Russell, S., 1995. "A Machine Vision Based Surveillance System for California Roads," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1hh5x9jw, Institute of Transportation Studies, UC Berkeley.
    13. Ammar Jafaripournimchahi & Yingfeng Cai & Hai Wang & Lu Sun, 2022. "Environmental Analyses of Delayed-Feedback Control Effects in Continuum-Traffic Flow of Autonomous Vehicles," Sustainability, MDPI, vol. 14(18), pages 1-18, September.
    14. Raza, H. & Ioannou, P., 1996. "Vehicle Control Design For Infrastructure Managed Vehicle Following," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt8sd4665d, Institute of Transportation Studies, UC Berkeley.
    15. Hall, Randolph & Lotspeich, David, 1996. "Optimized Lane Assignment on an Automated Highway," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4jz9s97d, Institute of Transportation Studies, UC Berkeley.
    16. Yanakiev, Diana & Kanellakopoulos, Ioannis, 1996. "Analysis, Design And Evaluation Of Avcs For Heavy-duty Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt62z7k6rw, Institute of Transportation Studies, UC Berkeley.
    17. Ioannou, Petros & Stefanovic, Margareta, 2003. "Evaluation of the ACC Vehicles in Mixed Traffic: Lane Change Effects and Sensitivity Analysis," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6cz425r5, Institute of Transportation Studies, UC Berkeley.
    18. Ren, Weilin & Cheng, Rongjun & Ge, Hongxia, 2021. "Bifurcation analysis for a novel heterogeneous continuum model considering electronic throttle angle changes with memory," Applied Mathematics and Computation, Elsevier, vol. 401(C).
    19. Yanakiev, Diana & Kanellakopoulos, Ioannis, 1995. "Analysis, Design, And Evaluation Of AVCS For Heavy-duty Vehicles: Phase 1 Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2pw3920z, Institute of Transportation Studies, UC Berkeley.
    20. Yanakiev, Diana & Eyre, Jennifer & Kanellakopoulos, Ioannis, 1998. "Analysis, Design, And Evaluation Of Avcs For Heavy-duty Vehicles With Actuator Delays," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt931877r2, Institute of Transportation Studies, UC Berkeley.
    21. Broucke, M. & Varaiya, P., 1995. "A Theory Of Traffic Flow In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4h41g68m, Institute of Transportation Studies, UC Berkeley.

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