This paper studies the problem of disturbance propagation in a string of vehicles aiming to proceed along a given trajectory while keeping a constant distance between each vehicle and its successor. It is assumed that each vehicle can control its position based on the spacing error with respect to the preceding vehicle in the string, as well as on coded information transmitted by the lead vehic...

This paper presents a concept of platoon movement of autonomous vehicles (smart cars). To be able to do research to the stability of an AGV string, a car-following model is being determined. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times. To control this string, equal P(I)D controllers are appl...

Model-based analysis and synthesis applied to the dynamics, guidance, and control of an autonomous undersea vehicle are presented. As the dynamic model for describing vehicle motion mathematically, the equations of motion are derived. The stability derivatives in the equations of motion are determined by a simulation-based technique using computational fluid dynamics analysis. The dynamic model...

Vehicle Dynamics Control (VDC) systems require the information about system variables, which cannot be directly measured, e.g., the wheel slip or the vehicle side-slip angle. This paper presents a new concept for the vehicle state estimation under assumption that the vehicle is equipped with the standard VDC sensors. It is proposed to utilize an Unscented Kalman Filter (UKF) for estimation purp...

This paper develops the stability theory of relative equilibria for mechanical systems with symmetry. It is especially concerned with systems that have a noncompact symmetry group, such as the group of Euclidean motions, and with relative equilibria for such symmetry groups. For these systems with rigid motion symmetry, one gets stability but possibly with drift in certain rotational as well as...

In this paper, a construction of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle...

Intelligent Vehicle Highway Systems (IVHS) is the integration of various pieces of information and computer technologies to the transportation elements in order to obtain a more productive transportation system. The five major components of IVHS are the Advanced Traffic Management Systems (ATMS), Advanced Vehicle Control Systems (AVCS), and Advanced Public Transportation systems (APTS). This pa...

This paper presents a preliminary design and analysis of an optimal energy management and control system for a parallel hybrid electric vehicle using hybrid dynamic control system theory and design tools. The vehicle longitudinal dynamics is analyzed. The practical operation modes of the hybrid electric vehicle are introduced with regard to the given power train configuration. In order to synth...

The Southwest Research Institute (SwRI) Mobile Autonomous Robotics Technology Initiative (MARTI) program has enabled the development of fully-autonomous passenger-sized commercial vehicles and military tactical vehicles, as well as the development of cooperative vehicle behaviors, such as cooperative sensor sharing and cooperative convoy operations. The program has also developed behaviors to i...