車群走行システムの制御特性に与える測定値のゆらぎとフィルター特性の影響

抄録

At a high speed convoy system with short distance between vehicles, the effects of the fluctuation of measurement values from the resolvability and the delay of the signal after filtering have been investigated by computer simulations. The vehicle model is assumed as the system represented as a first order transfer function. The simulation is performed as follows.
(1) A convoy system is constituted of a heading vehicle and following 5 vehicles.
(2) Each following vehicle has a distance measurement apparatus and a relative velocity measurement apparatus.
(3) Each following vehicle calculates the value of acceleration or deceleration using the measuring values of distance and relative velocity between the preceding vehicle.
The interesting results are obtained as follows.
A high speed convoy system with short distance between vehicles is enough able to be realize without the communication between the vehicles, if the fluctuation of the measuremet value of the relative velocity is under 0.1m/s. On such a control sterategy as keeping the relative velocity 0m/s, it is available to use a distance measuring apparatus with a low resolvability and a filter with high filtering constant.