Safe velocity tracking controller for AHS platoon leaders

Perry Li, Luis Alvarez, Roberto Horowitz, Pin Yen Chen, Jason Carbaugh

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Scopus citations

Abstract

A velocity tracking controller for platoon leaders in the PATH AHS architecture is presented. This controller keeps the state of the platoons inside a safety region in such a way that high velocity impacts between platoons are avoided, even in the presence of single lane disturbances. When safety is not compromised, the controller keeps the acceleration and jerk of the vehicles in a platton within comfort limits. This controller can be applied to all of the four leader control laws used in the regulation layer of the architecture. Therefore transitions between control laws are also made safe.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages2283-2288
Number of pages6
Volume2
StatePublished - Dec 1 1996
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

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    Li, P., Alvarez, L., Horowitz, R., Chen, P. Y., & Carbaugh, J. (1996). Safe velocity tracking controller for AHS platoon leaders. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 2283-2288)