Experimental vehicle longitudinal control using second order sliding modes

This paper presents the first phase of an experimental implementation of vehicle longitudinal control at low speed. The main objectives are the increase of traffic capacity while improving safety and comfort. Longitudinal control method used is based on second order sliding mode technique. Results are presented either by simulation or by use of an experimental process with a vehicle prototype which is equipped with needed sensors and actuators. The principle is based on the well management of inter-vehicular spacing in relation to vehicle speed. Examples obtained with the automatic system are provided for several traffic situations such as stop-and-go, stop on obstacles, car-following with merging/overtaking. Positive impacts of such a system are given in terms of traffic capacity enhancement and collision gravity reduction.