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String Stable Vehicle Platooning Using Adaptive Cruise Controlled Vehicles

机译：使用自适应巡航控制车辆的弦稳定车排

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Vehicle grouping in platoons and their automated control lead to reduced distances between vehicles with benefits in terms of increasing the capacity of roads and decreasing the fuel consumption and pollutant emissions. Reducing the distance must be done in compliance with safety rules, a condition being the string stability of the interconnected vehicles that make up the platoon. This paper presents a Linear Quadratic Integral Regulator for homogeneous platoon of ACC vehicles, which can guarantee the desired tracking performance and string stability requirement. By introducing a double integrator in the control law, tracking performance is obtained and a heuristic method is proposed for string stability by the selection of the constant time headway (CTH). The CTH selection for string stability is based on the Nyquist diagram and the pole-zero map of the transfer function of the spacing errors between two adjacent vehicles. The method was used for the comparative analysis of the string stability of autonomous vehicles using two ACC structures based on position and, respectively, on distance.
机译：排中的车辆分组及其自动控制可缩短车辆之间的距离，并具有增加道路通行能力，减少燃料消耗和污染物排放的好处。缩短距离必须遵循安全规则，条件是组成排的互连车辆的弦稳定性。本文提出了一种线性二次积分调节器，用于ACC车辆的同类排，可以保证所需的跟踪性能和弦稳定性。通过在控制律中引入双积分器，可以获得跟踪性能，并通过选择恒定时间时程（CTH）提出了一种启发式方法来提高弦的稳定性。用于弦稳定性的CTH选择基于两个相邻车辆之间的间距误差的传递函数的奈奎斯特图和零极点图。该方法用于基于位置和距离的两个ACC结构对自动驾驶汽车的弦稳定性进行比较分析。

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