Adaptive Cruise Control With Guaranteed Collision Avoidance

This paper considers platoons with an arbitrary number of linear vehicles and derives conditions on the vehicle dynamics for ensuring time-headway spacing and for guaranteeing collision avoidance. It is shown that for reaching these control aims it is necessary and sufficient that the controlled vehicles are externally positive with respect to both the velocity and the distance output and have a quantified delay. The requirement on the platoon dynamics are transformed into four objectives for the vehicle controller design. Three control configurations are evaluated with respect to these objectives to find systematic design steps. Numerical examples illustrate the results.


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  • Accession Number: 01707514
  • Record Type: Publication
  • Files: TLIB, TRIS
  • Created Date: May 2 2019 3:00PM