Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2002.8.12.1014

Hybrid Modeling and Control for Platoon Maneuvers in Automated Highway Systems  

전성민 (부산대학교 지능기계공학과)
최재원 (부산대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.12, 2002 , pp. 1014-1022 More about this Journal
Abstract
An objective of Automated Highway Systems (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss a design issue of efficient hybrid controllers for the platoon maneuvers on AHS. For the modeling of a hybrid system including the merge and split operations, a safety distance policy is introduced for the merge and split operations. After that, the platoon system will be modeled by a hybrid system In addition, a hybrid controller for the proposed merge and split operation models is presented. Finally, the performance of the proposed hybrid control scheme is demonstrated via scenarios for platoon maneuvers.
Keywords
automated highway systems; hybrid control; merge and split operations; safety distance policy; platooning;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 김진변, 최재원, 김영호, '다중 Lyapunov 기반 하이브리드 시스템의 안정화 제어기 설계 및 군집 차량의 종방향 거리 제어시스템에의 응용,' 제어. 자동화. 시스템공학 논문지, 제 7 권, 제 6 호, pp. 477-486, 2001
2 D. N. Godbole, J. Lygeros, and S. Sastry, 'Hierarchical hybrid control : an IVHS case study,' Proceedings of the 33th IEEE Conference on Decision and Control, pp. 1592-1597, December 1994   DOI
3 P. A. Ioannou, and C. C. Chien, 'Autonomous Intelligent Cruise Control,' IEEE Transactions on Vehicular Technology, Vol. 43, No. 4, pp. 657-672, 1993   DOI   ScienceOn
4 최재원, 이석, 이만형, 박운식, 'ITS 분야에서의 계측제어 및 통신기술,' 한국정밀공학회지, 제 18 권, 제 1 호, pp. 12-20, 2001   과학기술학회마을
5 J. Lygeros, D. N. Godbole, and M. Broucke, 'A fault tolerant control architecture for automated highway Systems,' IEEE Transactions on Control Systems Technology, Vol. 8, No. 2, pp. 20-219, March, 2000   DOI   ScienceOn
6 S. Sheikholelam, and C. A. Desoer, Longitudinal Control of a Platoon of Vehicles ; III : Nonlinear Model, PATH Report UCB-ITS-PRR-90-1, Institute of Transportation Studies, University of Califormia, Berkeley, 1994
7 P. Varaiya, 'Smart cars on smart roads: Problems of control,' IEEE Transactions on Automatic Control, Vol. 38, No. 2, pp. 195-207, February 1993   DOI   ScienceOn
8 H. Raza, P. A. Ioannou, 'Vehicle following control design for automated highway systems,' IEEE Control Systems Magazine, Vol. 16-6, pp. 43-60, 1996   DOI
9 R. Alur, C. Courcoubetis, T. A. Henzinger, and P.-H. Ho, 'Hybrid automata: an algorihmic approach to the specification and verification of hybrid systems,' Proceedings of the Workshop on Theory of Hybrid Systems, Lyngby, Denmark, pp. 209-229, 1992
10 J. Lygers, D. N. Godbole, and S. Sastry, 'Verified hybrid controllers for automated vehicles,' IEEE Transactions on Automatic Control, Vol. 43, No. 4, pp. 522-539, 1998   DOI   ScienceOn
11 R. Brockett, 'Hybrid systems in classical mechanics,' Proceedings of the 13th IFAC World Congress, pp. 473-476, June 1996
12 K. Yi, S. Lee, and K.-I. Lee, 'Estimation of vehicle Driving-load with application to vehicle intelligent cruise control,' KSME Intermational Journal, Vol. 15, No. 6, pp. 720-726, 2001   과학기술학회마을
13 D. N. Godbole, V. Hagenmeyer, R. Sengupta, and D. Swaroop, 'Design of emergency maneuvers for automated highway systems: Obstacle avoidance problem,' Proceedings of the 36th IEEE Conference on Decision and Control, pp. 4774-4779, 1997   DOI
14 D. N. Godbole, R. Sengupta, and V. Hagenmeyer, 'Distrbuted hybrid controls for automated vehicle lane changes,' Proceedings of the 37th IEEE Conference on Decision and Control, pp. 2639-2644, 1998   DOI
15 S. Pettersson, Analysis and Design of Hybrid Systems, Ph. D. Dissertation, Department of Signal and Systems, Chalmers University of Technology, Goteborg, Sweden, 1999