Title :
Longitudinal control algorithm for automated vehicle merging
Author :
Lu, Xiao-Yun ; Hedrick, Karl J.
Author_Institution :
PATH, California Univ., Berkeley, CA, USA
Abstract :
This paper considers the theoretical part for longitudinal control of merging maneuver for an automated highway system. The longitudinal control problem for merging is proposed for different road layouts. Then a unified mathematical model is established and a new concept called virtual platooning is proposed, which effectively avoids a two point boundary value problem. Based on it, a rather general adaptive algorithm is provided and proved. This algorithm has been implemented and tested with automated cars
Keywords :
automated highways; boundary-value problems; position control; road traffic; road vehicles; automated highway system; automated vehicle merging; boundary value problem; longitudinal control; mathematical model; road traffic; virtual platooning; Adaptive algorithm; Automated highways; Automatic control; Automatic testing; Boundary value problems; Control systems; Mathematical model; Merging; Roads; Vehicles;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912805
