Connected cruise control (CCC), as an advanced driver assistance system (ADAS), can enhance the stability and safety of the traffic flow. It is worth noting that the uncertain human driving reaction time will seriously affect the stability of the entire CCC system. In this paper, the car-following platoon is considered, where the CCC autonomous vehicle at the tail receives velocity and position signals of $n$ human-driven vehicles ahead through wireless vehicle-to-vehicle (V2V) communication. A robust feedback controller is designed by only using the current states of each preceding vehicle and the ego vehicle based on the LaSalle-Yoshizawa-like condition to overcome the influence of uncertain human driving reaction time. The Lyapunov-Razumikhin approach analyzes the stability of the CCC vehicle in the closed-loop system, and the string stability of the whole CCC system is ensured by dissipativity with $L_2$ gain. The practicability of the designed robust controller is verified by simulation comparison with other design schemes.
Robust Control of Connected Cruise Vehicle Platoon With Uncertain Human Driving Reaction Time
IEEE Transactions on Intelligent Vehicles ; 7 , 2 ; 368-376
2022-06-01
3589099 byte
Article (Journal)
Electronic Resource
English
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