AI 中文总结
研究车辆编队纵向控制问题，设计基于CTH策略的非线性自适应巡航控制器，能保证车速和加速度有界及防撞，通过引入间距误差变量分析闭环系统，保证间距误差收敛并建立非线性队列稳定性，推导\(L_p\)队列稳定性充分条件。
AI 中文摘要
本文研究了车辆编队中具有安全性和队列稳定性保证的纵向控制问题。为异构车辆编队设计了一种基于恒定车头时距（CTH）策略的非线性自适应巡航控制器，它包含一个速度相关的非线性增益以保证车速有界，还有一个饱和型非线性以保证加速度有界（或不过度激进），同时保留基于车头时距的间距策略的防撞特性。通过引入合适的间距误差变量，得到显式非线性误差动态，可直接分析闭环系统。结果表明无碰撞区域是正不变的，且所提控制器保证间距误差收敛。此外，直接从闭环动态建立了非线性队列稳定性特性，无需线性化或频域论证。特别地，针对干扰、作用于领头车辆的外部输入和初始条件扰动，推导了\(1\leq p\leq\infty\)时\(L_p\)队列稳定性的充分条件。
英文摘要
This paper studies the problem of longitudinal control, with safety and string stability guarantees, in vehicle platoons. A nonlinear adaptive cruise controller based on the Constant Time Headway (CTH) policy is designed for platoons of heterogeneous vehicles, that incorporates a speed-dependent nonlinear gain guaranteeing bounded vehicle speeds and a saturation-type nonlinearity to guarantee bounded (or non-aggressive) accelerations, while preserving collision-avoidance properties of time-headway-based spacing policies. By introducing a suitable spacing-error variable, explicit nonlinear error dynamics are obtained, allowing a direct analysis of the closed-loop system. It is shown that the collision-free region is positively invariant and that the proposed controller guarantees convergence of the spacing errors. Furthermore, nonlinear string-stability properties are established directly from the closed-loop dynamics without resorting to linearization or frequency-domain arguments. In particular, sufficient conditions are derived for $L_p$ string stability, $1\le p\le\infty$, with respect to disturbances, external inputs acting on the leading vehicle, and perturbations of the initial conditions.
Comments43 pages, 10 figures
