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Robotic reactions: Delay-induced patterns in autonomous vehicle systems Gbor Orosz, Jeff Moehlis, and Francesco Bullo
 

Summary: Robotic reactions: Delay-induced patterns in autonomous vehicle systems
Gábor Orosz, Jeff Moehlis, and Francesco Bullo
Department of Mechanical Engineering, University of California, Santa Barbara, California 93106, USA
Received 9 December 2009; published 22 February 2010
Fundamental design principles are presented for vehicle systems governed by autonomous cruise control
devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following
model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs
between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity
model using numerical continuation and numerical simulation.
DOI: 10.1103/PhysRevE.81.025204 PACS number s : 89.75.Kd, 05.45. a, 89.40.Bb
I. INTRODUCTION
Early car-following models, such as the California model
1 , allowed the study of linear stability of uniform traffic
flow. These models already incorporated driver reaction time
see 2 for a review , but at that time the mathematical
theory for the corresponding delay differential equations
DDEs 3 was not available. By the 1990s, nonlinearities
penetrated the car-following theory due to the increasing
speed and availability of computers, which allowed the ex-
ploration of traffic dynamics by means of numerical simula-

  

Source: Awtar, Shorya - Department of Mechanical Engineering, University of Michigan
Moehlis, Jeff - Department of Mechanical and Environmental Engineering, University of California at Santa Barbara

 

Collections: Engineering; Physics