Fundamental Studies in the Longitudinal Control of Automated Ground Vehicles
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1976-12-01
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Edition:Final Report
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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.
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