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汽车安全与节能学报

汽车安全与节能学报 ›› 2010, Vol. 1 ›› Issue (1): 30-39.DOI: 10.3969/j.issn.1674-8484.2010.01.005

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基于伺服环动力学的自适应巡航控制系统串行稳定性研究

周晶，彭晖   

  1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2133, USA
  • 收稿日期:2010-01-11 出版日期:2010-03-19 发布日期:2010-03-19
  • 通讯作者: *To whom correspondence should be addressed. E-mail: hpeng@umich.edu

String Stability of Adaptive Cruise Control Systems with Servo-loop Dynamics

ZHOU Jing, PENG Hui*   

  1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2133, USA
  • Received:2010-01-11 Online:2010-03-19 Published:2010-03-19
  • Contact: *To whom correspondence should be addressed. E-mail: hpeng@umich.edu

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摘要： 串行稳定性是在智能交通系统中车辆队列平稳行驶所必需强调的一个基本问题。该文提出并分析了6种自适应巡航控制(ACC)算法的串行稳定性条件。ACC控制系统经过简化，由一个主环控制算法和一个近似为一阶滞后的伺服环组成。验证了6个复杂递增的主环控制律，这些控制律设计为确保希望的车辆间恒定车头时距。车距误差传函的无穷范数是用于评价串行稳定性的度量指标。研究发现串行稳定性通常影响主环反馈增益和/或伺服环时间常数产生的不等约束，这些约束的严格程度依赖于所得到的所馈信息以及反馈控制的特性。

关键词: 自适应巡航控制(ACC), 跟驰稳定性, 智能交通系统(ITS)

Abstract: String stability is a fundamental issue that has to be addressed for stable vehicle platooning in intelligent transportation systems. In this paper, the string stability conditions of six Adaptive Cruise Control (ACC) algorithms are presented and analyzed. The ACC control system is simplified so it consists of a main-loop control algorithm and a servo-loop approximated by a first-order lag. Six main-loop control laws of increasing complexity are examined, all of which are designed to maintain a desired constant time-headway between vehicles. The infinity norm of the vehicle range error transfer function is used as the metric to assess string stability. It is demonstrated that string stability generally imposes inequality constraints on the main-loop feedback gains and/or the servo-loop time constant. The strictness of these constraints depends on the feedback information employed, as well as the nature of the feedback control design.

Key words: color: black, font-family: "Arial Narrow Regular", mso-fareast-font-family: 宋体, mso-ansi-language: EN-US, mso-fareast-language: ZH-CN, mso-bidi-language: AR-SA, mso-font-kerning: 0pt, mso-fareast-theme-font: minor-fareast, mso-bidi-font-family: 'Arial Narrow Regular'">adaptive cruise control (ACC), string stability, intelligent transportation systems (ITS)