AHS CONTROL LAWS FOR PLATOONS LEADERS

Perry Li, Luis Alvarez, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the AHS architecture of the California PATH program traffic is organized into platoons of closely spaced vehicles. Whenever platoons are formed or broken up, the large relative motion between platoons, increases the risk of high relative velocity collisions. In this paper we derive a safety region for the relative velocity between two platoons. By guaranteeing that the relative velocity between platoons remains in this region, impacts of high relative velocity can be avoided. For each one of the four control laws that a platoon leader can perform in normal operation, a desired velocity profile for the platoon that satisfies safety and timeoptimality requirements is derived. A nonlinear velocity controller is designed to track the desired velocity profile within a given error bound. When safety is not compromised, this controller keeps the acceleration and jerk of the vehicles in the platoon within comfort limits.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages9-16
Number of pages8
ISBN (Electronic)9780791815281
DOIs
StatePublished - 1996
Externally publishedYes
EventASME 1996 International Mechanical Engineering Congress and Exposition, IMECE 1996 - Atlanta, United States
Duration: Nov 17 1996Nov 22 1996

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume1996-O

Conference

ConferenceASME 1996 International Mechanical Engineering Congress and Exposition, IMECE 1996
Country/TerritoryUnited States
CityAtlanta
Period11/17/9611/22/96

Bibliographical note

Publisher Copyright:
© 1996 American Society of Mechanical Engineers (ASME). All rights reserved.

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