Modelling of automobile dynamics for digital control of vehicle platoons

Author

Ghaya, S. ; Mudgett, D.R.

Author_Institution

Dept. of Electr. Eng., Pennsylvania State Univ., University Park, PA, USA

Volume

1

fYear

1994

fDate

29 June-1 July 1994

Firstpage

11

Abstract

This paper presents a mathematical model of the automobile dynamics of a small vehicle such as a passenger car. Nonlinearities as well as time delay, inherited in the engine dynamics, and the effects of the environment on vehicle motion are included. This model is linearized and a discrete-time system model is developed using the modified z-transform technique. While the primary emphasis of the paper is on system modelling, a simple digital LQ-PI controller is used in simulation to illustrate applicability of the model to the automatic control of speed and spacing in a vehicle platoon, using only local information.

Keywords

Z transforms; automated highways; digital control; dynamics; intelligent control; linear quadratic control; road vehicles; spatial variables control; two-term control; velocity control; automobile dynamics; digital LQ-PI controller; digital control; discrete-time system model; modified z-transform technique; nonlinearities; passenger car; spacing control; speed control; time delay; vehicle motion; vehicle platoons; Actuators; Delay effects; Digital control; Engines; Fuels; Manifolds; Nonlinear dynamical systems; Transfer functions; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1994

Print_ISBN

0-7803-1783-1

Type

conf

DOI

10.1109/ACC.1994.751683

Filename

751683