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control techniques for an automated mixed traffic vehicleThe paper describes an automated mixed traffic vehicle (AMTV), a driverless low-speed tram designed to operate in mixed pedestrian and vehicular traffic. The vehicle is a six-passenger electric tram equipped with sensing and control which permit it to function on existing streets in an automatic mode. The design includes established wire-following techniques for steering and near-IR headway sensors. A 7-mph cruise speed is reduced to 2 mph or a complete stop in response to sensor (or passenger) inputs. The AMTV performance is evaluated by operation on a loop route and by simulation. Some necessary improvements involving sensors, sensor pattern, use of an audible signal, and control lag are discussed. It is suggested that appropriate modifications will eliminate collision incidents.
Document ID
19780039959
Document Type
Conference Proceedings
Authors
Meisenholder, G. W.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Johnston, A. R.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Date Acquired
August 9, 2013
Publication Date
January 1, 1977
Subject Category
URBAN TECHNOLOGY AND TRANSPORTATION
Meeting Information
Joint Automatic Control Conference(San Francisco, CA)
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other