CarTracking
This model shows a following car tracking a leading car in an unreliable
communication environment.
This model shows a following car tracking a leading car in an unreliable
communication environment. In normal operation, the leading car informs
the following car about its position, speed, acceleration, and a time
stamp for this information. The following car does a sanity check to make
sure that the data are coherent. If so, the following car will apply the
same acceleration, and thus (in this simple model) tracks the leading
car perfectly.
A user can determine when the communication channel fault
will occur and when it well end by setting the faultStartTime and
faultStopTime parameters.
If the following car receives incorrect information, it abandons the
received acceleration, and relies on distance measurements for tracking.
In this mode, the following car will apply zero acceleration, if it is too
close to the leading car, and maximum acceleration if it is too far from
the leading car. This (simple-minded) control law results in a rather
jerky ride.
The block diagram
for the model was constructed using the Ptolemy II schematic editor
called Vergil.
An alternate version of this model is called the
V2V (Vehicle 2 Vehicle) model