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首页> 外文期刊>IEEE Transactions on Automatic Control >String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances
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String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances

机译：受到干扰的车辆排的弦稳定性和基于延迟的间距策略

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摘要

A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired intervehicular distance between vehicles and guarantees that all vehicles track the same spatially varying reference velocity profile, as is for example required for heavy-duty vehicles driving over hilly terrain. Disturbance string stability is a notion of string stability of vehicle platoons subject to external disturbances on all vehicles that guarantees that perturbations do not grow unbounded as they propagate through the platoon. Specifically, a control design approach in the spatial domain is presented that achieves tracking of the desired spacing policy and guarantees disturbance string stability with respect to a spatially varying reference velocity. The results are illustrated by means of simulations.
机译：引入了一种新颖的基于时延的车辆排控制间隔策略，并引入了干扰串稳定性的概念。基于延迟的间距策略指定了车辆之间的理想车距，并确保所有车辆都跟踪相同的空间变化参考速度曲线，例如重型车辆在丘陵地带行驶时所要求的。扰动串的稳定性是受所有车辆的外部干扰的车辆排的串稳定性的概念，该扰动保证了扰动在整个排中传播时不会无限增长。具体而言，提出了一种在空间域中的控制设计方法，该方法可实现对所需间隔策略的跟踪，并确保干扰字符串相对于空间变化的参考速度具有稳定性。结果通过仿真说明。

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