1. School of Electronic and Control Engineering, Chang’an University, Xi’an 710064, China 2. Shaanxi Automobile Holding Group Limited Company, Xi’an 710200, China
A data-driven robust backstepping adaptive cruise control (ACC) algorithm was proposed to achieve high-precision robust ACC. First of all, a virtual controller was designed to convert the vehicle spacing control into speed control by using the backstepping technology, avoiding the coupling of speed and spacing control brought by the speed-dependent spacing strategy. Secondly, a data-based coupling sliding mode surface and state observer were constructed to compensate for the vehicle’s complex nonlinear dynamics, the discrete errors and the external disturbances, and the robustness of the control algorithm was improved. Then, a data-driven robust ACC algorithm was designed using feedback control and robust control techniques. Finally, the proposed ACC algorithm and the PI-based ACC were used for vehicle adaptive cruise tracking simulation verification with two spacing strategies (constant time headway and varying time headway). The superiority of the designed algorithm in terms of control accuracy and robustness are shown by the experimental results.
Jia-cheng SONG,Mao-de YAN,Pan-pan YANG,Yong-feng JU,Jing-fei YUE. Robust backstepping adaptive cruise control based on data-driven. Journal of ZheJiang University (Engineering Science), 2022, 56(3): 485-493.
Tab.2Tracking error, velocity change rate and acceleration change rate
Fig.4Simulation results of constant time headway with 0.1 sample time
Fig.5Simulation results of variable time headway with 0.1 sample time
Fig.6Simulation results under vehicle cut in condition
Fig.7Simulation results of target vehicle driving away
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