Information Technology Reference
In-Depth Information
(a)
(b)
(c)
(d)
Fig. 14.9 Results of the simulation for the better individual in the last generation: a controller
output, b speeds of both the controlled ( blue ) and the pursued car ( red ), c actual distance between
vehicles ( blue ), safety distance ( red ), andmeasured distance ( green ), d difference betweenmeasured
and safety distances
Due to the unrealistic accelerations and decelerations of the car pursued in the
genetic algorithm, several simulations have been carried out with the controller
obtained, and with the vehicle ahead varying its speed in a more natural fashion.
In all of them, the vehicle controlled was able to follow the vehicle ahead without
collision, while adapting its speed to maintain a safe distance. The results of one of
these simulations can be seen in Fig. 14.10 . The most noticeable feature is that the
peaks in the output of the controller are smaller than in the precedent case. In the
same way, the differences between the measured distance and the safety distance are
also smaller. As can be observed, the distance between vehicles is always greater
than 2.5m.
Search WWH ::




Custom Search