Vehicle Modelling and Control for Automated Highway Systems

This study evaluates the feasibility of longitudinal control of a platoon of automated vehicles. As a prerequisite to controller design, a nine state nonlinear model including an internal combustion engine, engine transmission dynamics, and tire friction characteristics has been developed. Parametric studies revealed that simple linear models cannot predict the vehicle transients. Due to this highly nonlinear nature of the vehicle, the use of a nonlinear controller was proposed. A nonlinear control strategy using throttle engine control for a platoon of two vehicles was studied using the technique of Sliding Control. In our analysis, the quantities of primary concern are position and velocity tracking errors. Simulation results demonstrate excellent tracking even in the presence of sizable modelling errors and disturbance inputs.