Car-following collision prevention control using recurrent cerebellar model articulation controller

Author

Lin, Chih-Min ; Chen, Chiu-Hsiung ; Kao, ChiJui ; Chin, Wei-Liang

Author_Institution

Dept. of Electr. Eng., Yuan-Ze Univ., Tao-Yuan, Taiwan

Volume

1

fYear

2004

fDate

21-23 March 2004

Firstpage

158

Abstract

This paper presents an adaptive recurrent cerebellar-model-articulation-controller (RCMAC) for the car-following collision prevention system. In this control system, a RCMAC is the main tracking controller used to mimic a perfect control law and a compensated controller is designed to compensate for the difference between the perfect control law and the RCMAC. The online adaptive laws of the control system are derived based on the Lyapunov stability theorem, so that the stability of the system can be guaranteed. Finally, the proposed adaptive RCMAC is applied for the car-following collision prevention control. Simulation results show that this method can provide a safe car-following control. Moreover, the presented adaptive RCMAC controller can solve the problems of the oscillations for final distance between the leading vehicle (LV) and the following vehicle (FV).

Keywords

Lyapunov methods; adaptive control; automobiles; cerebellar model arithmetic computers; collision avoidance; control system synthesis; stability; Lyapunov stability; adaptive control; car following collision prevention control system; control system synthesis; following vehicle; leading vehicle; online adaptive laws; recurrent cerebellar model articulation controller; tracking controller; Adaptive control; Automated highways; Automatic control; Control systems; Lyapunov method; Programmable control; Road accidents; Road vehicles; Space vehicles; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2004 IEEE International Conference on

ISSN

1810-7869

Print_ISBN

0-7803-8193-9

Type

conf

DOI

10.1109/ICNSC.2004.1297426

Filename

1297426