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Abstract:
A vehicle cruise system is modeled by integrating the dynamics
characters of heavy-duty vehicle and vehicle convoy consisting two
vehicles on low speed condition. Based on the model, the nonlinear
disturbance decoupling theory is applied to separate the desired control
object (inter vehicles relative distance and velocity) from the
disturbance of leading vehicle’s acc/deceleration, and realize the
linearization of nonlinear system simultaneously. By adopting this
decoupling linear subsystem, a developed stop and go cruise control
systems is proposed. Computer simulation are conducted to illustrate the
performance of control systems, the test results show that not only
satisfying dynamic response characteristics are obtained, but also
global decoupling from disturbance of leading vehicle’s acc/deceleration
can be realized. The simulating calculation verifies the effect of the
control.
Key words:Nonlinear
disturbance decoupling Stop and go cruise control Dynamics model
CLC No: U27
清华－五十铃国际合作资助项目.
Received
20051116, received in revised form 20060213
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