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

doi:10.3969/j.issn.1674-8484.2010.01.005

Abstract

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)

ZHOU Jing, PENG Hui. String Stability of Adaptive Cruise Control Systems with Servo-loop Dynamics[J]. Journal of Automotive Safety and Energy, 2010, 1(1): 30-39.

References

[1] Fancher P, Ervin R, Sayer J. et al. Intelligent cruise control (ICC) field operational test [R]. The Univ of Michigan Transportation Research Institute (UMTRI), UMTRI-98-17,1998.
[2] Zwaneveld P, van Arem B. Traffic effects of automated vehicle guidance systems [C]// Proc 5th World Congress on Intelligent Transport Systems. Seoul, Korea, 1998.
[3] Swaroop D, Rajagopal K R. Intelligent cruise control systems and traffic flow stability [J]. Transportation Research Part C, 1999, 7: 329-352.
[4] Liang C, Peng H. String stability analysis of adaptive cruise controlled vehicles [J]. JSME Intl Journal Series C, 2000, 43: 671-677.
[5] Levine W S, Athans M. On the optimal error regulation of a string of moving vehicles [J]. IEEE Trans Automatic Control, 1966, AC-11: 355-361.
[6] Chu K C.Decentralized control of high-speed vehicular strings [J]. Transportation Science, 1974, 8(4): 361-384.
[7] Caudill R J, Garrard W L. Vehicle-follower longitudinal control for automated transit vehicles [J]. ASME J Dyn Syst, Meas, Control, 1977, 99(4): 241-248.
[8] Swaroop D, Hedrick J K. String stability of interconnected systems [J]. IEEE Trans Automatic Control, 1996, 41(3): 349-357.
[9] Shladover S. An overview of the automated highway systems program [J]. Vehicle System Dynamics, 1995, 24: 551-595.
[10] Ioannou P A, Chien C C. Autonomous intelligent cruise control [J]. IEEE Trans Veh Tech, 1993, 42: 657-672.
[11] Zhang Y, Kosmatopoulos E B, Ioannou P A. Autonomous intelligent cruise control using front and back information for tight vehicle following maneuvers [J]. IEEE Trans Veh Tech, 1999, 48(1): 319-328.
[12] Swaroop D, Rajagopal K R. A review of constant time headway policy for automatic vehicle following [C]// Proc IEEE Intelligent Transportation Systems Conf Oakland (CA), 2001: 25-29.
[13] Rajamani R, Shladover S. An experimental comparative study of autonomous and co-operative vehicle-follower control systems [J]. Transportation Research Part C, 2001, 9: 15-31.
[14] Swaroop D, Hedrick J K, Chien C C, Ioannou P A . A comparison of spacing and headway control laws for automatically controlled vehicles [J]. Vehicle System Dynamics, 1994, 23 (8): 597-625.
[15] Yanakiev D, Kanellakopoulos I . Nonlinear spacing policies for automated heavy-duty vehicles [J]. IEEE Trans Veh Tech, 1998, 47(4): 1365-1377.
[16] Eyre J, Yanakiev D, Kanellakopoulos I. A simplified framework for string stability analysis of automated vehicles [J]. Vehicle System Dynamics, 1998, 30(5): 375-405.
[17] Wang J, Rajamani R. The impact of adaptive cruise control systems on highway safety and traffic flow [C]// Proc IMechE Part D, J Auto Eng, 2004, 218: 111-130.
[18] Fancher P, Peng, H, Bareket Z, Assaf C, Ervin R. Evaluating the influences of adaptive cruise control systems on the longitudinal dynamics of strings of highway vehicles [C]// Proc 17th IAVSD Conf Copenhagen, Denmark, 2001.
[19] Shladover S, et al. Automatic vehicle control developments in the PATH Program [J]. IEEE Trans Veh Tech, 1991, 40: 114-130.
[20] Swaroop D, Hedrick J K. Constant spacing strategies for platooning in automated highway systems [J]. ASME J Dyn Syst Meas Control, 1999, 121(3): 462-470.
[21] Bae H S, Gerdes J C. Parameter estimation and command modification for longitudinal control of heavy vehicles [C]// Proc 5th Int Symp on Advanced Vehicle Control Ann Arbor, MI, 2000.
[22] Sheikholeslam S, Desoer C. Longitudinal control of a platoon of vehicles [C]// Proc Ame Control Conf, 1990, 1: 291-297.
[23] Liang C, Peng H. Optimal adaptive cruise control with guaranteed string stability [J]. Vehicle System Dynamics, 1999, 32: 313-330.
[24] Rajamani R, Zhu C. Semi-autonomous adaptive cruise control systems [J]. IEEE Trans Veh Tech, 2002, 51: 1186-1192.
[25] Zhou J, Peng H. Range policy of adaptive cruise control for improved flow stability and string stability [J]. IEEE Trans Intelligent Transportation Systems, 2005, 6(2): 229-237.