Fundamental Studies in the Longitudinal Control of Automated Ground Vehicles

Fenton, R. E.; Olson, K. W.; Mayhan, R. J.; Takasaki, G. M.

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Fundamental Studies in the Longitudinal Control of Automated Ground Vehicles

1976-12-01
By Fenton, R. E. ; Olson, K. W. ; Mayhan, R. J. ; ...

File Language:

English

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Creators:

Fenton, R. E. ; Olson, K. W. ; Mayhan, R. J. ; Takasaki, G. M.
Corporate Creators:

Ohio State University. Transportation Control Laboratory ; United States. Federal Highway Administration
Corporate Contributors:

United States. Department of Transportation. Federal Highway Administration. Office of Research and Development ; United States. Department of Transportation. Federal Highway Administration. Offices of Research and Development
Subject/TRT Terms:

Advanced Vehicle Control Systems Automated Ground Vehicles Automated Highway Systems Automated Vehicle Control For Ground Vehicles Automatic Longitudinal Control Dual Mode Vehicles Floating Car Data Highways Informational Source Longitudinal Control Operations And Traffic Management Sector Communications Sector Computer Traffic Congestion Traffic Data
Publication/ Report Number:

FHWA-RD-77-28, RF 4302, RF 4302 A1-1
Resource Type:

Tech Report
Geographical Coverage:

United States ; Ohio
Edition:

Final Report
Contracting Officer:

Frank Okano
Corporate Publisher:

United States. Federal Highway Administration. Office of Research and Development
Abstract:

Four essential aspects of the longitudinal control of vehicles in an automated, individual-vehicle system are considered here: a) Sector-level control; b) Communications between each controlled vehicle and the sector computer; c) The development of techniques for obtaining extremely accurate estimates of a vehicle's state; and d) The control of each individual vehicle. The emphasis was on the design, development and testing of hardware subsystems essential for implementing these facets in the context of high-speed (to 93 ft/sec or 28 ra/s), small time-headway (1-2 sec) operation. The accomplishments over the second year of a two-year study include: a) The development and field evaluation of techniques for obtaining accurate estimates of vehicle position and instantaneous speed — ± .05 ft in 10 ft (± .015m in 3.05m) and ± 0.7 ft/sec (± 0.21 m/s), respectively for one of the three approaches evaluated; b) The development of validated models for both the propulsion and braking dynamics of a typical U.S. sedan; c) The design and field testing of a vehicle controller which provided good tracking and a comfortable ride; and d) The specification of both minimal and realistic requirements for sector- level communications.
Format:

PDF
Funding:

DOT-FH-11-8874
Collection(s):

Federal Highway Administration Autonomous Vehicles
Main Document Checksum:

urn:sha-512:c3474cc3e00d590c1344111a2cbeccc88c4097534b51865bb10de172a704c08ae0cc80f18bdc79a2f1191f72d06089cea1ba3c9712bf4406589bc8969af34cc5
Download URL:

https://rosap.ntl.bts.gov/view/dot/37894/dot_37894_DS1.pdf
File Type:

[PDF - 11.25 MB ]

File Language:

English

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