Adaptive Cruise Control With Guaranteed Collision Avoidance
Adaptive Cruise Control With Guaranteed Collision Avoidance
复制标题
DOI：
10.1109/tits.2018.2842115
复制
发表时间：
2019-05-01
影响因子：
8.5
通讯作者：
Lunze, Jan
中科院分区：
文献类型：
--
作者：
Lunze, Jan
本文考虑了具有任意数量的线性车辆的排，并推导了车辆动力学的条件，以确保时间间隔和保证避免碰撞。结果表明，为了实现这些控制目标，受控车辆在速度和距离输出方面都是外部正值，并且具有量化的延迟，这是必要且充分的。对队列动力学的要求转化为车辆控制器设计的四个目标。根据这些目标评估三种控制配置，以找到系统的设计步骤。数值例子说明了结果。
This paper considers platoons with an arbitrary number of linear vehicles and derives conditions on the vehicle dynamics for ensuring time-headway spacing and for guaranteeing collision avoidance. It is shown that for reaching these control aims it is necessary and sufficient that the controlled vehicles are externally positive with respect to both the velocity and the distance output and have a quantified delay. The requirement on the platoon dynamics are transformed into four objectives for the vehicle controller design. Three control configurations are evaluated with respect to these objectives to find systematic design steps. Numerical examples illustrate the results.