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Funnel cruise control
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DOI：10.1016/j.automatica.2020.109061.png)
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摘要
En 中文
We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal adaptive cruise control mechanism which is model-free and achieves the aforementioned control objectives. The controller consists of a velocity funnel controller, which directly regulates the velocity when the leader vehicle is far away, and a distance funnel controller, which regulates the distance to the leader vehicle when it is close so that the safety distance is never violated. We provide a rigorous proof for the feasibility of the overall controller design. The funnel cruise controller is illustrated by a simulation of three different scenarios which may occur in daily traffic. (C) 2020 Elsevier Ltd. All rights reserved.
Keyword:
Cruise control
Autonomous driving
Adaptive control
Funnel control
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期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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