DocumentCode :
2701152
Title :
Vehicle following algorithm realization based on a virtual flexible curved bar with force delay
Author :
Chen, Weihai ; Zhang, Xiaomei ; Ng, Teck Chew
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
90
Lastpage :
95
Abstract :
A virtual flexible curved bar coupled with force delay algorithm is proposed for automatic vehicle following, aiming at improving the accuracy of vehicle trajectory tracking, especially when leader vehicle is accelerating or making turns. A virtual flexible curved bar with force delay has been modeled that connects the leader to the follower. The length of this virtual bar is a function of the turning radiuses of the leader vehicle. Through this model, the follower vehicle is in effect being virtually dragged by the leader through the virtual flexible curved bar. It is the virtual dragging force that makes the follower accelerate/decelerate so as to adjust its speed to match that of the leader. Finally, simulations were carried out in MATLAB. The results showed that the proposed algorithm has improved the trajectory tracking error greatly, compared to the virtual rigid straight link approach.
Keywords :
automated highways; mobile robots; motion control; position control; MATLAB; advanced driver assistance; automatic vehicle following algorithm; force delay algorithm; intelligent transportation systems; vehicle trajectory tracking; virtual dragging force; virtual flexible curved bar; virtual rigid straight link approach; Acceleration; Delay; Force; Mobile robots; Trajectory; Turning; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5980389
Filename :
5980389
Link To Document :
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