Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Hybrid Modeling and Control for Platoon Maneuvers in Automated Highway Systems

군집주행 기동을 위한 하이브리드 모델링 및 제어기 설계

  • 전성민 (부산대학교 지능기계공학과) ;
  • 최재원 (부산대학교 기계공학부)
  • Published : 2002.12.01
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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.

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References

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