Abstract
This study develops a longitudinal control model for automatic car-following with one switch and two controllers. The switch is operated using fuzzy logic to activate acceleration or trigger braking. The two controllers activate the acceleration pedal and the brake system and use reference adaptive control theory. A simulation is utilized to evaluate the acceptability of the proposed model and to compare the traffic characteristics between machine driving (by the proposed model) and human driving (as represented by the GM-V model). The simulation results indicate that this model is acceptable and is both safe and efficient for use in traffic. However, the automatic car-following system is more aggressive than humans are, which may be the primary challenge in implementation.
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Abbreviations
- A m :
-
reference for throttle control, [0,0.78;K9,−0.22]
- A m :
-
reference for, [0,1;0,1.25]
- a :
-
the coefficient, 0.22
- B m :
-
reference for throttle control, [−0.00025,0.0005]
- B m :
-
reference for brake control, [1/1500;1.25/1500]
- b :
-
the coefficient, 0.0005
- C 1 :
-
the coefficient of T b , 8
- C 2 :
-
resistance coefficient, 0.001
- C 3 :
-
resistance coefficient, 0.046
- C 4 :
-
the coefficient of P r , 10
- C d :
-
aerodynamic drag coefficient, 0.42
- F*:
-
feedback gain, [−2,0.01]
- f o :
-
the coefficient, 127.1
- G*:
-
forward Gain, [0.0005]
- h :
-
time headway, 1 s
- K 5 :
-
coefficient of V r wheninbrake, 0.8
- K 6 :
-
coeficient of δ when in brake, 0.25
- M :
-
vehicle mass, 1500 kg
- L :
-
vehicle length, 4.5 m
- P :
-
a positive definite matrix, [3,1;1,1]
- Q :
-
a positive definite matrix, [2,0;0,2]
- R(t):
-
reference input, 60*sin(0.5t)
- S a :
-
the frontal area of the vehicle., 1.45 m2
- Γ1 :
-
a parametric matrix, [4,0;0,9]
- Γ2 :
-
a parametric matrix, [9]
- τ :
-
the rolling friction coefficient, 0.022
- ρ :
-
the air density, 1.2258 N-s2/m4
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Chang, T.H., Wang, M.C. & Yu, S.M. Advance-F automatic car-following model and its traffic characteristics. Int.J Automot. Technol. 12, 933–942 (2011). https://doi.org/10.1007/s12239-011-0106-9
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DOI: https://doi.org/10.1007/s12239-011-0106-9