Longitudinal control algorithm for automated vehicle merging

Longitudinal control algorithm for automated vehicle merging
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DOI：
10.1109/cdc.2000.912805
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发表时间：
2000-12
期刊：
Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)
影响因子：
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通讯作者：
Xiao-Yun Lu;UC Karl J. Hedrick PATH;Rfs Berkeley;Bldg;Richmond St;Ca
Xiao-Yun Lu;UC Karl J. Hedrick PATH;Rfs Berkeley;Bldg;Richmond St;Ca
中科院分区：
其他
文献类型：
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作者：
Xiao-Yun Lu;UC Karl J. Hedrick PATH;Rfs Berkeley;Bldg;Richmond St;Ca

文献摘要

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本文考虑了自动化高速公路系统并道操纵纵向控制的理论部分。针对不同的道路布局，提出了并道的纵向控制问题。然后建立了统一的数学模型，并提出了虚拟队列的新概念，有效避免了两点边值问题。在此基础上，给出并证明了一种较为通用的自适应算法。该算法已在自动驾驶汽车上实施和测试。
This paper considers the theoretical part for longitudinal control of merging maneuver for an automated highway system. The longitudinal control problem for merging is proposed for different road layouts. Then a unified mathematical model is established and a new concept called virtual platooning is proposed, which effectively avoids a two point boundary value problem. Based on it, a rather general adaptive algorithm is provided and proved. This algorithm has been implemented and tested with automated cars.