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首页> 外文会议>International Conference on Informatics in Control, Automation and Robotics >Minimizing the Inter-vehicle Distances of the Time Headway Policy for Platoon Control on Highways
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Minimizing the Inter-vehicle Distances of the Time Headway Policy for Platoon Control on Highways

机译：最大限度地减少高速公路电排控制器的行车间距离政策

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摘要

Heavy traffic on highways requires the optimization of inter-distances between vehicles in order to reach time performance and to provide safety solution in transport. Variable spacing and constant spacing are the two policies for the longitudinal control of platoon. Variable spacing doesn't require a lot of data (position, speed...) from other vehicles, and string stability using only on-board information is obtained. However, inter-vehicle distances are very large, and hence traffic density is low. Constant spacing can offer string stability with high traffic density, but it requires at least data from the leader. In this paper, a novel expression of the variable spacing policy has been proposed. It is effective to decrease the distance between the cars, to become nearly equal to the constant spacing policy. It also enables increasing the string stability and the robustness of the control regarding to unmodeled lags, and it can avoid control torque saturation. This novel approach doesn't require heavy communication between the cars. The new control law has been evaluated by simulation with perfect system using Matlab, and with imperfect system using TORCS. The good results have demonstrated the effectiveness of the novel approach.
机译：高速公路上的繁忙需要优化车辆之间的距离距离，以达到时间性能并在运输中提供安全解决方案。可变间距和恒定间距是排纵排的两项政策。可变间距不需要来自其他车辆的大量数据（位置，速度......），并且仅获得仅使用载机的稳定性。然而，车间距离非常大，因此交通密度低。恒定间距可以提供具有高流量密度的字符串稳定性，但它需要至少来自领导者的数据。在本文中，提出了一种新的可变间隔政策的表达。减少汽车之间的距离是有效的，变得几乎等于恒定间隔政策。它还可以提高串的稳定性和对未拼件滞后的控制的鲁棒性，并且可以避免控制扭矩饱和度。这种新颖的方法不需要汽车之间的繁忙。通过使用MATLAB的完美系统和使用TORCS的完全系统来评估新的控制法。良好的结果表明了新颖方法的有效性。

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