Optimal adaptive cruise control with guaranteed string stability
Optimal adaptive cruise control with guaranteed string stability
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DOI：
10.1076/vesd.32.4.313.2083
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发表时间：
1999-11-01
影响因子：
3.6
通讯作者：
Peng, H
中科院分区：
文献类型：
--
作者：
Liang, CY;Peng, H
本文提出了一种两级自适应巡航控制（ACC）综合方法。在上层，根据车辆行驶里程和距离变化率测量来计算所需的车辆加速度。在下层（伺服）层，设计了自适应控制算法，以确保车辆准确地遵循上层加速度命令。结果表明，伺服级动力学可以纳入整体设计，并且可以保证弦的稳定性。换句话说，所提出的控制设计对周围车辆产生的负面影响最小。所提出的 ACC 算法的性能通过使用密歇根大学创建的微观模拟程序 ACCSIM 进行了检查。本文描述了ACCSIM的体系结构和基本功能。报告了不同 ACC 渗透率和执行器/发动机带宽下的仿真结果。
A two-level Adaptive Cruise Control (ACC) synthesis method is presented in this paper. At the upper level, desired vehicle acceleration is computed based on vehicle range and range rate measurement. At the lower (servo) level, an adaptive control algorithm is designed to ensure the vehicle follows the upper level acceleration command accurately. It is shown that the servo-level dynamics can be included in the overall design and string stability can be guaranteed. In other words, the proposed control design produces minimum negative impact on surrounding vehicles. The performance of the proposed ACC algorithm is examined by using a microscopic simulation program-ACCSIM created at the University of Michigan. The architecture and basic functions of ACCSIM are described in this paper. Simulation results under different ACC penetration rate and actuator/engine bandwidth are reported.