上海交通大学学报

上海交通大学学报（自然版）

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基于车队稳定性的安全时距及其确定方法

王锋辉a，杨明b，杨汝清a，王春香a   

  1. (上海交通大学 a.机器人研究所；b.自动化系，上海 200240)
  • 收稿日期:2009-06-09 修回日期:1900-01-01 出版日期:2010-06-30 发布日期:2010-06-30

Platoon Stability Based Safe Headway and Its Determination

WANG Fenghuia，YANG Mingb，YANG Ruqinga，WANG Chunxianga   

  1. (a.Research Institute of Robotics; b.Department of Automation, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2009-06-09 Revised:1900-01-01 Online:2010-06-30 Published:2010-06-30

摘要： 为确定车辆自适应巡航控制的安全时距，以互连系统稳定性理论为基础，提出了一种基于车队稳定性的安全时距.在建立车辆跟随控制模型的基础上，分析了车队的局部稳定性，进而研究了安全时距与车队全局稳定性之间的关系，给出了基于车队稳定性的安全时距的确定方法.仿真实验结果表明，采用基于车队稳定性的安全时距，能够在不同条件下保证车队中所有车辆的安全性.

关键词: 安全时距, 车队稳定性, 自适应巡航控制

Abstract: To determine the safe headway of adaptive cruise control vehicles, the platoon stability based headway was proposed by using the interconnected systems stability theory. Based on the following control model of vehicles, the local stability of platoon was analyzed, relationships between the safe headway and the global stability of platoon were studied, and the determination method of this headway was given. The test results show that the safe headway determined by the proposed method can ensure the securities of all vehicles in the platoon in different situations.

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