직진 주행 차량의 강인 적응제어기 설계

Abstract

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicle's acceleration. It is shown that platoon stabiliy can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.