Title :
ACC/CACC-control design, stability and robust performance
Author :
Lu, Xiao-Yun ; Hedrick, J. Karl ; Drew, Mike
Author_Institution :
PATH, California Univ., Berkeley, CA, USA
Abstract :
Variable headway Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC) based on a sliding mode method are considered in a unified model-based approach. An analysis of robust stability and performance for the closed-loop systems corresponding to different implementations has been carried out. Explicit relationships between distance headway and control design parameters and preceding vehicle speed and acceleration are provided. Teja Software is used for simulation and real-time C/C++ code generation. In simulation, a full vehicle dynamic model is used. It also simulates different maneuvers and several possible approximations in the implementation.
Keywords :
acceleration control; adaptive control; closed loop systems; control system analysis computing; control system synthesis; road vehicles; robust control; variable structure systems; velocity control; Teja Software; closed-loop systems; control design; control design parameters; cooperative adaptive cruise control; distance headway; full vehicle dynamic model; preceding vehicle acceleration; preceding vehicle speed; real-time C/C++ code generation; robust performance; robust stability; simulation; sliding mode method; unified model-based approach; variable headway adaptive cruise control; Acceleration; Adaptive control; Automatic control; Communication system control; Control design; Programmable control; Robust control; Robust stability; Vehicles; Velocity measurement;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1025325
