Robotic reactions: delay-induced patterns in autonomous vehicle systems.
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.
Orosz
Gábor
G
Department of Mechanical Engineering, University of California, Santa Barbara, California 93106, USA.
Moehlis
Jeff
J
Bullo
Francesco
F