Analysis and design of controllers for cooperative and automated driving
Analysis and design of controllers for cooperative and automated driving
复制标题
协同自动驾驶控制器分析与设计
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
J. Ploeg
中科院分区：
文献类型：
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作者：
J. Ploeg
如今，吞吐量已成为公路运输的限制因素。提高道路通过量的有效手段是减小车辆间的时间间隔。然而，一个小的时间间隔，可能会导致字符串的不稳定性，是放大的速度扰动在上游方向。因此，串稳定的行为被认为是设计自动距离控制系统的基本要求，需要允许在远低于1秒的时间间隔内安全驾驶。然而，字符串稳定性的正式概念在文献中并不明确，因为稳定性解释和性能解释都存在。因此，提出了一种新的定义的非线性级联系统的字符串稳定性的输入输出特性。这个定义是众所周知的串稳定性条件的线性级联系统的结果。采用这些条件，通过使用无线车与车之间通信以提供在前车辆的信息的控制器来获得串稳定性。理论结果进行了验证的控制器，被称为合作自适应巡航控制，在一个排的六辆客车。实验结果表明，实际结果与理论分析相吻合，从而表明了短距离车辆跟驰的实际可行性。
Nowadays, throughput has become a limiting factor in road transport. An effective means to increase the road throughput is to decrease the intervehicle time gap. A small time gap, however, may lead to string instability, being the amplification of velocity disturbances in upstream direction. String-stable behavior is thus considered an essential requirement for the design of automatic distance control systems, which are needed to allow for safe driving at time gaps well below 1 s. However, the formal notion of string stability is not unambiguous in literature, since both stability interpretations and performance interpretations exist. Therefore, a novel definition for string stability of nonlinear cascaded systems is proposed, using input–output properties. This definition is shown to result in well-known string stability conditions for linear cascaded systems. Employing these conditions, string stability is obtained by a controller that uses wireless intervehicle communication to provide information of the preceding vehicle. The theoretical results are validated by implementation of the controller, known as Cooperative Adaptive Cruise Control, on a platoon of six passenger vehicles. Experiments clearly show that the practical results match the theoretical analysis, thereby indicating the practical feasibility for short-distance vehicle following.
影响因子：
7
作者：
Heyer, LJ;Kruglyak, S;Yooseph, S
通讯作者：
Yooseph, S