01438nas a2200181 4500008004100000245005300041210005300094260004700147520082100194653002401015653002001039653003101059100002201090700002101112700001901133700002301152856008101175 2019 eng d00aSafety and stability analysis of FollowerStopper0 aSafety and stability analysis of FollowerStopper aTucsonbThe University of Arizonac08/20193 a
In this paper, we demonstrate that the velocity controller, FollowerStopper, is safe and string unstable. FollowerStopper is a controller that is meant to be implemented on an autonomous vehicle or in an adaptive cruise control (ACC) system. Through mathematical proof, simulation in Simulink, and hardware in the loop implementation on a real autonomous vehicle through the Robot Operating System (ROS) and Gazebo, several results are achieved. It is found that an autonomous vehicle controlled by FollowerStopper will never crash. FollowerStopper will dissipate larger traffic waves from human-driven vehicles but will amplify smaller velocity perturbations that are created within the controller. Given the maximum LiDAR range of 81 m, FollowerStopper will never command a velocity greater than 13.69 m/s
10aautonomous vehicles10acontrol systems10aintelligent transportation1 aKreienkamp, Chris1 aFishbein, Daniel1 aBhadani, Rahul1 aSprinkle, Jonathan uhttp://csl.arizona.edu/content/safety-and-stability-analysis-followerstopper