IDEAS home Printed from https://ideas.repec.org/p/cdl/itsrrp/qt931877r2.html
   My bibliography  Save this paper

Analysis, Design, And Evaluation Of Avcs For Heavy-duty Vehicles With Actuator Delays

Author

Listed:
  • Yanakiev, Diana
  • Eyre, Jennifer
  • Kanellakopoulos, Ioannis

Abstract

This report focuses on the design of longitudinal control algorithms for commercial heavy vehicles (CHVs). The algorithms use nonlinear spacing policies, backstepping control design, and aggressive prediction schemes to deal with the presence of significant delays and saturations in the fuel and brake actuators. The algorithms can also deal with delays both in the presence and in the absence of intervehicle communication. A by-product on this research is the development of two software packages, Platoon-Builder and TruckVis, for simulation and animation of CHV platoons. Additionally, another important result of this project is a new simplified framework for evaluating the longitudinal string stability properties of platoons of automated vehicles.

Suggested Citation

  • 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.
    • Handle: RePEc:cdl:itsrrp:qt931877r2
    as

    Download full text from publisher

    File URL: https://www.escholarship.org/uc/item/931877r2.pdf;origin=repeccitec
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Sheikholeslam, Shahab & Desoer, Charles A., 1990. "Longitudinal Control Of A Platoon Of Vehicles. III, Nonlinear Model," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt0dx8t12z, Institute of Transportation Studies, UC Berkeley.
    2. 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.
    3. Xu, Z. & Ioannou, P., 1994. "Adaptive Throttle Control For Speed Tracking," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt0vx1w6wc, Institute of Transportation Studies, UC Berkeley.
    4. Kai-ching Chu, 1974. "Decentralized Control of High-Speed Vehicular Strings," Transportation Science, INFORMS, vol. 8(4), pages 361-384, November.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zhang, Jianlong & Ioannou, Petros, 2004. "Control of Heavy-Duty Trucks: Environmental and Fuel Economy Considerations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3qt9440g, Institute of Transportation Studies, UC Berkeley.
    2. Zhang, Jianlong & Ioannou, Petros, 2004. "Integrated Roadway / Adaptive Cruise Control System: Safety, Performance, Environmental and Near Term Deployment Considerations," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4749164x, Institute of Transportation Studies, UC Berkeley.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. 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.
    2. 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.
    3. 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.
    4. 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.
    5. 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.
    6. Oh, Pahngroc & Packard, Andy & Tongue, Benson H., 1999. "A Parmetric Study of Platoon Dynamics and Robust H[infinity] Controller Design," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt99b9w5v1, Institute of Transportation Studies, UC Berkeley.
    7. 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.
    8. Lygeros, John & Godbole, Datta N., 1994. "An Interface Between Continuous And Discrete-event Controllers For Vehicle Automation," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt66h9q6qw, Institute of Transportation Studies, UC Berkeley.
    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. Alvarez, Luis & Horowitz, Roberto, 1997. "Safe Platooning In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1v97t5w1, Institute of Transportation Studies, UC Berkeley.
    11. Hsu, Ann & Eskafi, Farokh & Sachs, Sonia & Varaiya, Pravin, 1991. "Design Of Platoon Maneuver Protocols For IVHS," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt89c6p0cn, Institute of Transportation Studies, UC Berkeley.
    12. 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).
    13. Wang, Duo & Sipahi, Rifat, 2024. "Betweenness centrality can inform stability and delay margin in a large-scale connected vehicle system," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 636(C).
    14. Tongue, Benson H. & Yang, Yean-tzong, 1994. "Platoon Collision Dynamics And Emergency Maneuvering IV: Intra-platoon Collision Behavior And A New Control Approach For Platoon Operation During Vehicle Exit/entry - Final Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3w66p6b3, Institute of Transportation Studies, UC Berkeley.
    15. 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.
    16. 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.
    17. Jun Du & Bin Jia & Shiteng Zheng, 2022. "Stability Analysis of Continuous Stochastic Linear Model," Sustainability, MDPI, vol. 14(5), pages 1-13, March.
    18. 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.
    19. Bae, Hong S. & Gerdes, J. Christian, 2003. "Parameter Estimation and Command Modification for Longitudinal Control of Heavy Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt6s35h1ch, Institute of Transportation Studies, UC Berkeley.
    20. Tongue, Benson H. & Packard, Andrew & Harriman, Douglas, 1997. "A Vehicle Collision Model for Platoon Controller Development," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3nz5d4vf, Institute of Transportation Studies, UC Berkeley.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:cdl:itsrrp:qt931877r2. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Lisa Schiff (email available below). General contact details of provider: https://edirc.repec.org/data/itucbus.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.