Robust stop-and-go control strategy

Robust stop-and-go control strategy


1.1 Generalities

traffic engineering and safety research of Car-following has become of increased importance. Thus, adaptive cruise control (ACC) and stop-and-go control systems have been deeply studied in recent years [Vahidi and Eskandarian, 2003]. Let us recall that while ACC automatically accelerates or decelerates the vehicle to keep a quasi-constant target elocity and the headway distance, stop-and-go deals with the vehicle circulating in towns with frequent and sometimes hard stops and accelerations.
Some approaches ([Persson et al, 1999], [Yi and Moon, 2004 ]) have tried to reproduce human behavior in order to achieve a ‘comfort-based’ control. Unfortunately, this strategy may not necessarily of safe operation.. Besides, external factors such as road characteristics,

1.2 Contributions

the algorithm is the reference acceleration of the follower vehicle is obtained introduced in [Martinez and Canudas-de-Wit, 2007].

This will constitute a feedforward control in an ideal situation. Our contribution is twofold:
• We will elaborate realistic engine/brake torque to produce the expected reference acceleration of the follower vehicle
• a grey-box control strategy. Compared to classical PD controllers, as proposed in [Martinez and Canudas-de-Wit, 2007], the strength of this approach is that noise perturbations and neglected dynamics will be compensated with algebraic nonlinear estimation, which will lead to a straightforward tuning of the PD coefficients.
To compute the final closed-loop control,


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