Modeling - The Cab Control Problem

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Presentation transcript:

Modeling - The Cab Control Problem A block diagram of the overall approach might look like: Cab Following Algorithm position of cab A position of cab B position difference between cabs velocity of cab A velocity of cab B velocity difference between cabs acceleration of cab B

Modeling - The Cab Control Problem Task #2 - Determining the form of the safe distance algorithm B A (xn - yn) vn un yn xn

Modeling #5 - The Cab Control Problem One possible safe distance algorithm is this: apply max acceleration leave speed unchanged apply max deceleration The “safe distance”

Modeling #5 - The Cab Control Problem an amax (xn- yn) > D (xn- yn) - D (xn- yn) < D -dmax

Modeling - The Cab Control Problem Any possible problems with this first approach to the safe distance algorithm?

Modeling #5 - The Cab Control Problem an amax slope = k1 (xn- yn) - D -dmax

Modeling #5 - The Cab Control Problem A better safe distance algorithm is this: so

Modeling - The Cab Control Problem Think of a strategy to find: D amax -dmax k1