吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 1023-1029.doi: 10.13229/j.cnki.jdxbgxb201604002

• Orginal Article • Previous Articles     Next Articles

Design of linear parametrically varying headway control algorithm for ACC vehicles

GAO Zhen-hai1, YAN Wei1, LI Hong-jian2, WANG Da-zhi3, WANG Lin3   

  1. 1.State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;
    2.Research and Development Center, China FAW Group Corporation,Changchun 130011,China;
    3.Department of Safefy Engineering & Virtual Technology, SAIC Motor Corporation Limited, Shanghai 200041,China
  • Received:2015-05-12 Online:2016-07-20 Published:2016-07-20

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Abstract: An individual linear parametrically varying headway control algorithm is designed based on H∞ concept for Adaptive Cruise Control (ACC) systems. The relative kinematics between the host vehicle and the preceding vehicle is represented using a linear parametrically varying model considering the uncertainty owing to the time gap set by drivers dynamically. The longitudinal acceleration is restrained under control input saturation and the passenger comfort is improved。 Furthermore, the controller gains are tuned in real time according to the dynamic time gap based on H∞ concept and the nonlinear longitudinal dynamics controller is designed. Finally, the designed algorithm is validated under a typical condition and compared with the existing Dynamic Surface Controller (DSC). The results show that the individual setting of the time gap is achieved via the linear parametrically varying headway control algorithm, the deterioration of transient following performance for the sake of discrete variation of the time gap and automotive states is avoided.

Key words: vehicle engineering, adaptive cruise control, constant time headway model, linear parametrically varying headway control, control input saturation, driver

CLC Number: 

  • U461
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