Title :
A safe velocity tracking controller for AHS platoon leaders
Author :
Li, Perry ; Alvarez, Luis ; Horowitz, Roberto ; Chen, Pin-Yen ; Carbaugh, Jason
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
A velocity tracking controller for platoon leaders in the PATH automated highway system (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 platoon 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
Keywords :
acceleration control; automated highways; position control; road traffic; safety; state-space methods; tracking; traffic control; velocity control; PATH; acceleration control; automated highway system; platoon leaders; road traffic control; safe velocity tracking controller; safety region; single lane disturbances; Acceleration; Automated highways; Automatic control; Communication system control; Control systems; Open loop systems; Road accidents; Road safety; Vehicle safety; Velocity control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573112
