CarTracking
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 control the correctness of the leading car
information by setting the parameter "fault" to 0 or 1, (0 indicating
the correct information). If the following car receives uncorrect
information, it abandons the received acceleration, and relies on
distance measurements for the tacking. 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.