Automatic vehicle following is an important feature of a fully or partially automated highway system (AHS). The on-board vehicle control system should be able to accept and process inputs from the driver, the infrastructure, and other vehicles, perform diagnostics, and provide the appropriate commands to actuators so that the resulting motion of the vehicle is safe and compatible with the AHS objectives. The purpose of this article is to design and test a vehicle control system in order to achieve full vehicle automation in the longitudinal direction for several modes of operation, where the infrastructure manages the vehicle following. These modes include autonomous vehicles, cooperative vehicle following, and platooning. The vehicle control system consists of a supervisory controller that processes the inputs from the driver, the infrastructure, other vehicles, and the onboard sensors and sends the appropriate commands to the brake and throttle controllers. In addition, the controller makes decisions about normal, emergency, and transition operations. Simulation results of some of the basic vehicle following maneuvers are used to verify the claimed performance of the designed controllers. Experiments on Interstate-15 that demonstrate the performance of the throttle controller with and without vehicle-to-vehicle communications in an actual highway environment are also included.

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自动公路系统的车辆跟随控制设计 [25 年前]

自动车辆跟随是全自动或部分自动公路系统 (AHS) 的一个重要功能。车载车辆控制系统应该能够接受和处理来自驾驶员、基础设施和其他车辆的输入，执行诊断，并向执行器提供适当的命令，从而使车辆产生的运动安全并符合AHS 目标。本文的目的是设计和测试车辆控制系统，以便在多种操作模式下实现纵向方向的完全车辆自动化，其中基础设施管理车辆跟随。这些模式包括自动驾驶车辆、协作车辆跟随和编队。车辆控制系统由处理来自驾驶员、基础设施、其他车辆和车载传感器，并向制动和油门控制器发送适当的命令。此外，控制器做出关于正常、紧急和过渡操作的决定。一些基本车辆跟随操纵的仿真结果用于验证所设计控制器声称的性能。还包括在 15 号州际公路上进行的实验，这些实验证明了在实际高速公路环境中带有和不带有车对车通信的节气门控制器的性能。一些基本车辆跟随操纵的仿真结果用于验证所设计控制器声称的性能。还包括在 15 号州际公路上进行的实验，这些实验证明了在实际高速公路环境中带有和不带有车对车通信的节气门控制器的性能。一些基本车辆跟随操纵的仿真结果用于验证所设计控制器声称的性能。还包括在 15 号州际公路上进行的实验，这些实验证明了在实际高速公路环境中带有和不带有车对车通信的节气门控制器的性能。