Vehicle longitudinal control using an adaptive observer for automated highway systems

This paper summarizes data fusion, controller design and experimental work done recently for the longitudinal control of a platoon of autonomous vehicles. This paper presents alternative sub-models of an engine and a transmission to achieve the goal of precise spacing control with smooth ride quality. Adaptive observers are developed to estimate the vehicle-to-vehicle spacing and the closing rate. The estimated values are used in a sliding mode based controller. The developed control strategies are implemented on test vehicles and four vehicle platoon control performed at low to highway speed profiles using throttle position control alone.