Autonomous Vehicle Following System - A Virtual Trailer Link Approach
نویسندگان
چکیده
Through the use of a virtual tractor-trailer link model, vehicle following capabilities have been implemented without the need of communications links between the two vehicles or the installation of special road infrastructure. The principle is based on the modeling of an off-hooked trailer system as a software link between the lead and led vehicles. The leader vehicle is modeled as the tractor (towing vehicle) whilst the follower vehicle as the trailer (towed vehicle). The conventional approach is for the led vehicle to follow a focus point in the leader vehicle, in the approach presented in this paper, following the leader vehicle is done by following the estimated trajectory of the virtual trailer, which is predicted from observations of the lead vehicle behavior. The system response of this configuration is much smoother. A series of simulations and experiments conducted has shown the validity of the proposed approach. Index Terms – Vehicle following, Virtual trailer system.
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