This paper presents the vehicle model and the longitudinal controller used for automated vehicle control. The vehicle model consists of four state equations governing the dynamics of the overall vehicle, brake, and engine. A three-layer robust controller is then developed based on this model. The top layer is a simple sliding controller translating desired acceleration into a “synthetic input” for the middle switching logic layer to decide whether engine or brake torque is needed. The bottom layer has two Dynamics Surface Controllers (DSC); one for the engine, and one for the brake. Thus, the overall vehicle control task is decoupled from the engine and brake control tasks. To address the problem of parameter uncertainties, an adaptive Dynamic Surface Controller is used. Simulation results are presented in the last section.
COORDINATED THROTTLE/BRAKE CONTROL FOR AUTOMATIC HIGHWAY SYSTEMS
Vehicle System Dynamics ; 29 , sup1 ; 161-191
1998-01-01
Article (Journal)
Electronic Resource
Unknown
Coordinated Throttle-Brake Control for Automatic Highway Systems
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