A SIMPLIFIED FRAMEWORK FOR STRING STABILITY ANALYSIS OF AUTOMATED VEHICLES
A SIMPLIFIED FRAMEWORK FOR STRING STABILITY ANALYSIS OF AUTOMATED VEHICLES
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DOI：
10.1080/00423119808969457
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发表时间：
1998-11
影响因子：
3.6
通讯作者：
J. Eyre;D. Yanakiev;I. Kanellakopoulos
中科院分区：
文献类型：
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作者：
J. Eyre;D. Yanakiev;I. Kanellakopoulos
成排行驶的自动驾驶车辆必须表现出单独和整体的稳定性，这种特性被称为“串稳定性”。我们提出了一个新的框架来评估自动驾驶车辆队列的纵向串稳定性。在这个框架中，排被认为是一个具有线性特性的质量-弹簧-阻尼系统。由此产生的闭环表示产生传递函数和脉冲响应，可以通过分析来确定排的管柱稳定性。该框架便于对各种控制器特性（如车头时距和车辆间通信）对串稳定性的影响进行定性比较。
SUMMARY Automated vehicles traveling in platoons must exhibit stability both individually and as a group, a property referred to as “string stability”. We propose a new framework for evaluating the longitudinal string stability properties of platoons of automated vehicles. In this framework, the platoon is considered to be a mass-spring-damper system with linear characteristics. The resulting closed-loop representation yields transfer functions and impulse responses that can be analyzed to determine the string stability properties of the platoon. This framework facilitates qualitative comparisons of the effects of various controller characteristics, such as time headway and intervehicle communication, on string stability.