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Vehicle Longitudinal Control Using Discrete Markers

Tomizuka, Masayoshi ; Love, David W

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Título:
Vehicle Longitudinal Control Using Discrete Markers
Autor: Tomizuka, Masayoshi ; Love, David W
Assuntos: Intelligent Vehicle Highway Systems ; Motor vehicles--Automatic control ; Motor vehicles--Dynamics--Mathematical models
Descrição: In this report, a hybrid observer is proposed as a method of estimating position and velocity of a vehicle when the primary output is a series of discrete magnetic markers placed along a roadway. For the preliminary studies, the vehicle was modeled as a pure inertial system with acceleration input. Two methods of determining the time "tk" at which the "k-th" marker is passed are discussed, and simulations using both methods are shown. Compensation for errors arising due to inaccurate measurement of this time is proposed and validated. A Proportional- Integral-Derivative (PID) controller acting on error signals from the hybrid observer is also developed and simulated. An "optimal" trajectory for marker advance/fallback and velocity change commands is calculated and verified in simulation, and its effects on the PID controller are discussed.
Data de criação/publicação: 1994-01
Idioma: Inglês

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