Please use this identifier to cite or link to this item:
|Title:||Vehicle longitudinal control using throttles and brakes|
|Authors:||Huang, S. |
|Source:||Huang, S., Ren, W. (1999-03-31). Vehicle longitudinal control using throttles and brakes. Robotics and Autonomous Systems 26 (4) : 241-253. ScholarBank@NUS Repository. https://doi.org/10.1016/S0921-8890(98)00056-6|
|Abstract:||One of the main challenges of automotive vehicle longitudinal control is integrating throttle and brake control. The difficulties are mainly due to the necessity of switching throttles and brakes, and the non-symmetry of time delays - large delay for brakes, and small delay for throttles. Existing control techniques switch between throttles and brakes based on a simple predetermined criterion. As a result, switchings are frequent, and ride jerky. In this paper, we propose a control strategy where two control laws, one for the throttle and one for the brake, are computed simultaneously to optimize a certain tracking criterion by a learning algorithm. The two computed control signals are then used to determine whether to activate the throttle, or the brake, or inaction. The resulting control law is shown to give dramatically smoother behaviors for vehicle tracking.|
|Source Title:||Robotics and Autonomous Systems|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Jan 23, 2018
WEB OF SCIENCETM
checked on Jan 15, 2018
checked on Jan 22, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.