We develop a predictor-based adaptive cruise control design with integral action (based on a nominal constant time-headway policy) for the compensation of large actuator and sensor delays in vehicular systems utilizing measurements of the relative spacing as well as of the speed and the short-term history of the desired acceleration of the ego vehicle. By employing an input–output approach, we show that the predictor-based adaptive cruise control law with integral action guarantees all of the four typical performance specifications of adaptive cruise control designs, namely, 1) stability, 2) zero steady-state spacing error, 3) string stability, and 4) non-negative impulse response, despite the large input delay. The effectiveness of the developed control design is shown in simulation considering various performance metrics.
Predictor-Based Adaptive Cruise Control Design
IEEE Transactions on Intelligent Transportation Systems ; 19 , 10 ; 3181-3195
2018-10-01
2764216 byte
Article (Journal)
Electronic Resource
English
Springer Verlag | 2014
|TIBKAT | 2006
|Automotive engineering | 1999
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