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An Overview on Control Algorithms for Automated Highway Systems
Sadayuki Tsugawa
National Institute of Advanced Industrial Science and Technology (AIST), ITS Research Group, Namiki 1-2-1, Tsukuba-shi, Ibaraki-ken, 305-8564 Japan
Received:April 27, 2001Accepted:June 26, 2001Published:August 20, 2001
Keywords:ITS, automated highway systems, lateral control, longitudinal control
Abstract
This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, relative speed, and relative acceleration, some of which are obtained by the transmission over inter-vehicle communication rather the measurement, is used to maintain a predetermined gap in a platoon. Lateral and longitudinal vehicle control algorithms are explained with references to some systems developed since 1960's.
Cite this article as:S. Tsugawa, “An Overview on Control Algorithms for Automated Highway Systems,” J. Robot. Mechatron., Vol.13 No.4, pp. 381-386, 2001.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
