Predictor-Based Adaptive Cruise Control Design

被引：4

作者：

Bekiaris-Liberis, Nikolaos ^{[1
]}

Roncoli, Claudio ^{[2
]}

Papageorgiou, Markos ^{[1
]}

机构：

[1] Tech Univ Crete, Dept Prod Engn & Management, Khania 73100, Greece

[2] Aalto Univ, Sch Engn, Dept Built Environm, Espoo 02150, Finland

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 09期

基金：

欧盟地平线“2020”; 欧洲研究理事会;

关键词：

STRING STABILITY; LONGITUDINAL CONTROL; VEHICLE AUTOMATION; TRAFFIC-FLOW; SYSTEMS;

D O I：

10.1016/j.ifacol.2018.07.015

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for compensation of long actuator and sensor delays in vehicular systems utilizing measurements of the relative spacing as well as of the speed and the short-term history of the desired acceleration of the ego vehicle. Employing an input-output approach we show that the predictor-based adaptive cruise control law with integral action guarantees all of the four typical performance specifications of adaptive cruise control designs, namely, (1) stability, (2) zero steady-state spacing error, (3) string stability, and (4) non-negative impulse response, despite the long input delay. The effectiveness of the developed control design is illustrated in simulation considering various performance metrics. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：86 / 91

页数：6

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