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 language | English (US) |
|---|---|
| Title of host publication | Dynamic Systems and Control |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Pages | 9-16 |
| Number of pages | 8 |
| ISBN (Electronic) | 9780791815281 |
| DOIs | |
| State | Published - 1996 |
| Externally published | Yes |
| Event | ASME 1996 International Mechanical Engineering Congress and Exposition, IMECE 1996 - Atlanta, United States Duration: Nov 17 1996 → Nov 22 1996 |
Publication series
| Name | ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) |
|---|---|
| Volume | 1996-O |
Conference
| Conference | ASME 1996 International Mechanical Engineering Congress and Exposition, IMECE 1996 |
|---|---|
| Country/Territory | United States |
| City | Atlanta |
| Period | 11/17/96 → 11/22/96 |
Bibliographical note
Publisher Copyright:© 1996 American Society of Mechanical Engineers (ASME). All rights reserved.