Minimizing the inter-vehicle distances of the time headway policy for urban platoon control with decoupled longitudinal and lateral control

A. Ali, G. Garcia, P. Martinet
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引用次数: 14

Abstract

Recently in [1], a modification of classical constant time headway policy (CTH) was proposed in order to make CTH very practical and easy to use in real applications. This modification was tested and its benefits were shown only for highways application. In this paper, this modification is generalized in order to make it applicable in urban environment. Dynamic and kinematic models of the vehicle are mixted without accounting wheel slip. By using exact linearization technique, lateral and longitudinal dynamics become decoupled. Stability and accuracy of the global system are checked. Using TORCS [8] in simulation, effectiveness of the proposed modification and its potential effect on traffic density are reported.
在纵向和横向控制解耦的城市队列控制中,最小化车头时距策略的车辆间距离
最近在[1]中,为了使CTH在实际应用中非常实用和易于使用,提出了对经典的恒定时距策略(CTH)的修改。该改造经过测试,其效益仅显示为公路应用。本文对其进行了推广,使其适用于城市环境。在不考虑车轮滑移的情况下,混合了车辆的动力学和运动学模型。通过使用精确线性化技术,横向和纵向动力学解耦。对系统的稳定性和精度进行了检验。利用TORCS[8]进行仿真,报告了所提出的修改的有效性及其对交通密度的潜在影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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