基于不同安全车距策略的自适应巡航控制稳定性研究

Platoon Stability Based on Different Safety Space Policing of Adaptive Cruise Control

在自适应巡航控制系统的基础上,建立了固定车距和固定时距两种策略下的车辆跟随安全车距模型。针对固定车距策略,研究了在有、无领车的情况下车队的稳定性;针对固定时距策略,研究了其在理想情况下和引入机械延迟、通信延迟的情况下车队的稳定性。并且从车辆跟随误差的传递函数角度出发,给出了能够保障车队稳定的参数关系。最后,通过Matlab数值仿真,结果表明当各参数满足车队稳定性条件时,能保证整个车队的稳定行驶。

The vehicle longitudinal dynamics model of constant spacing policy and constant time headway spacing policy were set up which are commonly employed by adaptive curise control( ACC ) systems; for constant spacing policy, studying string stability of platoons with and without lead vehicle reference; for the constant time headway spacing policy, investigating string stability by considering the parasitic time delays and lags of the actuators and sensors. ACC can guarantee string stability, if the control parameters and system parameters meet certain requirements.Simulations are conducted to evaluate the performance of the ACC system in various conditions.