弦(物理)
巡航控制
控制理论(社会学)
滞后
车辆动力学
执行机构
计算机科学
协同自适应巡航控制
自适应控制
理论(学习稳定性)
排
非线性系统
工程类
控制(管理)
数学
物理
人工智能
汽车工程
机器学习
量子力学
数学物理
计算机网络
作者
Parthib Khound,Peter Will,Antoine Tordeux,Frank Gronwald
标识
DOI:10.1080/15472450.2021.1983810
摘要
In this paper, we extend the nonlinear adaptive time gap car-following model to enhance the local and string stability for adaptive cruise control systems considering a time-lag in the lower level vehicle dynamics and a sensor time-delay. Both over-damped local and string stability analyses are performed mathematically and examined by simulation. The over-damped string stability criterion fulfills all the Lp stability norms, where p∈[1,∞]. Here we consider a time-lag operating in the lower level of the longitudinal control system's architecture, a sensor time-delay, and heterogeneity in the vehicle dynamics of the platoon. The adaptive time gap model without these attributes is intrinsically stable. However, it turns out that the introduction of a lag, a delay, or heterogeneity in the lower vehicular level reduces the performance in terms of stability, yielding unsafe damped oscillating collective behaviors. Henceforth we extend the model to enhance the stability by transforming the model to a homogeneous structure, without changing the fundamental dynamics. The results show that the extended model satisfies over-damped criteria for both local and string stability, considering actuator time-lag, sensor time-delay, and heterogeneity in the lower level vehicle dynamics. Such features are expected for automated driving systems.
科研通智能强力驱动
Strongly Powered by AbleSci AI