A COMPARISION OF SPACING AND HEADWAY CONTROL LAWS FOR AUTOMATICALLY CONTROLLED VEHICLES

被引：366

作者：

SWAROOP, D

HEDRICK, JK

CHIEN, CC

IOANNOU, P

机构：

[1] Department of Mechanical Engineering, University of California, Berkeley

[2] Department of Electrical Engineering, University of Southern California, Los Angeles

来源：

VEHICLE SYSTEM DYNAMICS | 1994年 / 23卷 / 08期

关键词：

Control theory;

D O I：

10.1080/00423119408969077

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper investigates two different longitudinal control policies for automatically controlled vehicles. One is based on maintaining a constant spacing between the vehicles while the other is based upon maintaining a constant headway (or time) between successive vehicles. To avoid collisions in the platoon, controllers have to be designed to ensure string stability, i.e the spacing errors should not get amplified as they propagate upstream from vehicle to vehicle. A measure of string stability is introduced and a systematic method of designing constant spacing controllers which guarantee string stability is presented. The constant headway policy does not require inter-vehicle communication to assure string stability. Also, since inter-vehicle communication is not required it can be used in systems with mixed automated-nonautomated vehicles, e.g for AICC (Autonomous Intelligent Cruise Control). It is shown in this paper that for all the autonomous headway control laws, the desired control torques are inversely proportional to the headway time.

引用

页码：597 / 625

页数：29

共 11 条

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