In this paper, the stability criteria of a platoon of adaptive cruise control (ACC) vehicles with actuator lag and senor delay are derived, and their impact on ACC vehicles stability is analyzed and tested. The results show that compared to the ideal ACC model with zero delays, both sensor delay and actuator lag deteriorate the dynamic stability of vehicles and platoons; they, however, have negligible impact on the static performance. Comparatively, the negative effect from communication delay is larger than that from actuator lag. In order to minimize the impacts of the two types of delays, a new ACC model is proposed. Then, the optimal control parameters of the proposed ACC system are designed based on a proportional-derivative controller from the perspective of the homogeneous and heterogeneous string stability. The results provide a feasible design to the proportional-derivative controller of ACC. Finally, the sensitivity analysis of ACC system is conducted.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Stability of platoon of adaptive cruise control vehicles with time delay


    Contributors:
    Hu, San Gen (author) / Wen, Hui Ying (author) / Xu, Lunhui (author) / Fu, Hui (author)

    Published in:

    Transportation Letters ; 11 , 9 ; 506-515


    Publication date :

    2019-10-10


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English






    Modelling merging behaviour joining a cooperative adaptive cruise control platoon

    Hu, Jia / Wang, Haoran / Li, Xin et al. | IET | 2020

    Free access

    Modelling merging behaviour joining a cooperative adaptive cruise control platoon

    Hu, Jia / Wang, Haoran / Li, Xin et al. | Wiley | 2020

    Free access

    Using the LQI2R Control Method on the Adaptive Cruise Control System for a Platoon of Vehicles

    Lich Luu, Duc / Truyen Pham, Huu / Thai Pham, Quoc et al. | IEEE | 2022