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Longitudinal Vehicle Speed Controller for Autonomous Driving in Urban Stop-and-Go Traffic Situations

Sawant, Neil Ravindra
http://rave.ohiolink.edu/etdc/view?acc_num=osu1285011632

Abstract Details

2010, Master of Science, Ohio State University, Electrical and Computer Engineering.
In this thesis, we have addressed the issue of road congestion due to increased traffic in urban and metropolitan areas and have designed an autonomous longitudinal speed controller as a solution to this problem. One of the best ways to increase efficiency of the available road infrastructure is to enable vehicles to move in a platoon with very small distance headway from the preceding vehicle. We have developed a Longitudinal Finite State Machine which acts as a supervisory control to help the following vehicle to merge behind and follow the preceding vehicle. We have studied the performance of two vehicle following controllers, i.e. LQR based full-state feedback controller and LQR based sequential-state feedback controller, which are enabled and take the control of the vehicle velocity during the “follow” state of the vehicle’s Longitudinal FSM. A comparison analysis has been presented between the two controllers which help in reducing the distance headway from the preceding vehicle as well as maintaining string stability within the platoon.
Umit Ozguner, PhD (Advisor)
Kevin Passino, PhD (Committee Member)
85 p.
Automotive Materials; Electrical Engineering; Engineering; Transportation
Longitudinal Vehicle Speed Control; LQR; Feedback Control; Convoy; Platoon; NSF; GCDC; Sequential State Feedback; Full State Feedback; Vehicle Modelling; V2V

Recommended Citations

Citations

  • Sawant, N. R. (2010). Longitudinal Vehicle Speed Controller for Autonomous Driving in Urban Stop-and-Go Traffic Situations [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1285011632

    APA Style (7th edition)

  • Sawant, Neil. Longitudinal Vehicle Speed Controller for Autonomous Driving in Urban Stop-and-Go Traffic Situations. 2010. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1285011632.

    MLA Style (8th edition)

  • Sawant, Neil. "Longitudinal Vehicle Speed Controller for Autonomous Driving in Urban Stop-and-Go Traffic Situations." Master's thesis, Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1285011632

    Chicago Manual of Style (17th edition)

osu1285011632
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© 2010, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.