Vehicle Longitudinal Control Using Discrete Markers

David W. Love and Masayoshi Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: 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.

Keywords: Motor vehicles--Automatic control; Motor vehicles--Dynamics--Mathematical models; Intelligent Vehicle Highway Systems (search for similar items in EconPapers)
Date: 1994-01-01
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Citations: View citations in EconPapers (1)

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