首页|Analysis of feed-forward control effect on autonomous driving car-following system

Analysis of feed-forward control effect on autonomous driving car-following system

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© 2022 Elsevier B.V.In this paper, the feed-forward control effect is introduced into the car-following system, which combines the proportional differentiation and velocity feedback effect to form a new compound compensation method to improve the stability and rapidity of the traffic flow system. The unit step input response in time domain analysis method is used to analyze the system and the feed-forward effect of the system. Using the small gain theorem and the Rouse criterion, we obtain the stability conditions of the improved system and obtain the neutral stability curves. Next, setting up simulation experiments discuss the influence of feed-forward effect on autonomous traffic flow system. The results show that the introduction of feed-forward effect can effectively improve the rapidity of traffic flow system responding to disturbances. Combined with appropriate proportional differentiation and velocity feedback, the system can be both stability and rapidity, which is meaningful for autonomous driving.

Autonomous driving car-following systemCompound compensationFeed-forward control effectSmall gain theorem and Rouse criterionStability and rapidityTime domain analysis

Song T.、Zhu W.-X.

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School of Control Science and Engineering Shandong University

2022

10.1016/j.physa.2022.127401

Physica

Physica

ISSN：0378-4371
年,卷(期)：2022.598
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