Smith predictor compensating for vehicle actuator delays in cooperative ACC systems
| Autor: | Henk Nijmeijer, Haitao Xing, Jeroen Ploeg |
|---|---|
| Přispěvatelé: | Dynamics and Control |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Stability criteria
Computer Networks and Communications Computer science Acceleration Aerospace Engineering 02 engineering and technology Vehicle dynamics 0203 mechanical engineering Control theory Electrical and Electronic Engineering Delays Throughput (business) vehicle actuator delay road throughput 020302 automobile design & engineering Smith predictor string stability Cooperative adaptive cruise control (CACC) Cooperative Adaptive Cruise Control Automotive Engineering Platoon Actuator Delay effects Actuators |
| Zdroj: | IEEE Transactions on Vehicular Technology, 68(2):8573839, 1106-1115. Institute of Electrical and Electronics Engineers |
| ISSN: | 1939-9359 0018-9545 |
| DOI: | 10.1109/TVT.2018.2886467 |
| Popis: | Cooperative adaptive cruise control (CACC) employs intervehicle wireless communications to realize short intervehicle distances and, hence, to improve road throughput. However, the vehicle actuator delay and communication delay have a significant effect on the (string) stability properties. Therefore, a Smith predictor has been applied to compensate for the vehicle actuator delay, while utilizing a Proportional-Derivative controller and a constant time gap spacing policy. The control actuation is conducted on a delay-free vehicle model to follow a preceding vehicle with a desired distance, such that the resulting scheme leads to individual vehicle stability independent of the vehicle actuator delay. Moreover, this approach allows for a smaller minimum string-stable time gap compared to without the compensator, thus taking full advantage of CACC. In addition, the Smith predictor has been adapted to take acceleration disturbances into account. The results are experimentally validated using a platoon of two passenger vehicles, illustrating the practical feasibility of this approach. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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