DocumentCode :
424668
Title :
A practical solution to the string stability problem in autonomous vehicle following
Author :
Lu, Guang ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Volume :
1
fYear :
2004
fDate :
June 30 2004-July 2 2004
Firstpage :
780
Abstract :
This work describes an improved autonomous vehicle following control scheme based on inter-vehicle communication. A previously developed autonomous following algorithm uses an on-board laser scanning radar sensor (LIDAR) to measure the ego-vehicle´s relative position with respect to its preceding vehicle, and the steering command is calculated for the ego-vehicle to follow the preceding vehicle. In this control scheme, the performance of the following vehicle largely depends on the behavior of the preceding vehicle. String stability becomes a serious issue when this control algorithm is applied to a platoon of vehicles. The deterioration of road tracking performance is another concern. The road tracking error of one vehicle is passed on to following vehicles, and the errors may accumulate as they propagate in the upstream direction. It is shown in the paper that inter-vehicle communication is a practical solution to this problem. Experimental and simulation results are presented.
Keywords :
control system synthesis; laser beam applications; optical radar; road vehicle radar; road vehicles; stability; steering systems; LIDAR; autonomous vehicle following control scheme; ego-vehicle; intervehicle communication; onboard laser scanning radar sensor; road tracking; steering command; string stability problem; vehicle platoon;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
ISSN :
0743-1619
Print_ISBN :
0-7803-8335-4
Type :
conf
Filename :
1383700
Link To Document :
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