Experimental vehicle longitudinal control using a second order sliding mode technique

Lydie Nouveliere (1) , Said Mammar (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents an experimental implementation of a shared vehicle longitudinal controller at low speed. The main objective is the increase of traffic capacity while improving safety and comfort. The longitudinal control method used is based on a second order sliding mode technique. The central controller is based on the management of inter-vehicular spacing in relation to vehicle speed. Results are presented both by simulation and by use of an experimental process with a vehicle prototype which is equipped with the required sensors and actuators. A number of scenarios are tested under usual traffic conditions such as stop-and-go, stopping at obstacles and car-following with merging/overtaking. Finally, the positive impact of such a system is given in terms of traffic capacity enhancement and collision gravity reduction.

Mots clés: Vehicles; Longitudinal control; Sliding modes; Congested networks

Domaines: Robotique [cs.RO]; Système multi-agents [cs.MA]; Automatique; Mécanique [physics.med-ph]; Mécanique des structures [physics.class-ph]; Automatique / Robotique

Lydie Nouveliere, Said Mammar. Experimental vehicle longitudinal control using a second order sliding mode technique. Control Engineering Practice, 2006, 15/8, pp.943--954. ⟨10.1016/j.conengprac.2006.11.011⟩. ⟨hal-00342871⟩