汽车自适应巡航鲁棒间距控制算法

Design and Verification of Robust Headway Control Algorithm for ACC Vehicles

基于H_∞理论设计了自适应巡航控制系统的鲁棒间距控制算法。首先,基于定常时距策略,将车间运动学建模为带有外部干扰的线性定常系统;然后,为了改善乘坐舒适性通过加速度限值抑制了控制输入饱和;最后,基于H_∞控制理论设计了鲁棒间距控制算法。

An robust headway control algorithm is designed based on H∞ concept for Adaptive Cruise Control systems. Firstly, the relative kinematic between the host vehicle and the preceding one is modelled using a linear time invariant system with external disturbance based on the constant time headway policy. Furthermore, The longitudinal acceleration is restrained under control input saturation and the passenger comfort is improved. Finally, the robust headway control algorithm is designed based on H∞ concept.