Stability of string of adaptive cruise control vehicles with parasitic delays and lags

Lingyun Xiao; Swaroop Darbha; Feng Gao

doi:10.1109/ITSC.2008.4732532

Stability of string of adaptive cruise control vehicles with parasitic delays and lags

Lingyun Xiao^*
, Swaroop Darbha
, Feng Gao

^*Corresponding author for this work

Research institute of Aero-Engine

Beihang University
Texas A&M University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

36 Scopus citations

Abstract

In this paper, we examine the effect of parasitic delays and lags on the stability of a string of vehicles equipped with Adaptive Cruise Control (ACC) system which is employed a constant time headway (CTH) policy. The control law of the ACC system is based on a simpler model of the vehicle that does not ignore the parasitic delays and lags. The main result of this paper is that string stability can be guaranteed if the constant time headway h, is at least twice the sum of the parasitic delays Δ, and the parasitic lags τ, that is, h > 2(Δ + τ). This result extends and generalizes the earlier results of Darbha [6] by considering parasitic delays and lags and provides a practical direction for ACC system design and implementation from the viewpoint of robustness to parasitic delays and lags.

Original language	English
Title of host publication	Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1101-1106
Number of pages	6
ISBN (Print)	9781424421121
DOIs	https://doi.org/10.1109/ITSC.2008.4732532
State	Published - 2008
Event	11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008 - Beijing, China Duration: 12 Oct 2008 → 15 Oct 2008

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008
Country/Territory	China
City	Beijing
Period	12/10/08 → 15/10/08

Access to Document

10.1109/ITSC.2008.4732532

Cite this

Xiao, L., Darbha, S., & Gao, F. (2008). Stability of string of adaptive cruise control vehicles with parasitic delays and lags. In Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008 (pp. 1101-1106). Article 4732532 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2008.4732532

Xiao, Lingyun ; Darbha, Swaroop ; Gao, Feng. / Stability of string of adaptive cruise control vehicles with parasitic delays and lags. Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. pp. 1101-1106 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

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title = "Stability of string of adaptive cruise control vehicles with parasitic delays and lags",

abstract = "In this paper, we examine the effect of parasitic delays and lags on the stability of a string of vehicles equipped with Adaptive Cruise Control (ACC) system which is employed a constant time headway (CTH) policy. The control law of the ACC system is based on a simpler model of the vehicle that does not ignore the parasitic delays and lags. The main result of this paper is that string stability can be guaranteed if the constant time headway h, is at least twice the sum of the parasitic delays Δ, and the parasitic lags τ, that is, h > 2(Δ + τ). This result extends and generalizes the earlier results of Darbha [6] by considering parasitic delays and lags and provides a practical direction for ACC system design and implementation from the viewpoint of robustness to parasitic delays and lags.",

author = "Lingyun Xiao and Swaroop Darbha and Feng Gao",

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booktitle = "Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008",

address = "美国",

note = "11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008 ; Conference date: 12-10-2008 Through 15-10-2008",

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Xiao, L, Darbha, S & Gao, F 2008, Stability of string of adaptive cruise control vehicles with parasitic delays and lags. in Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008., 4732532, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc., pp. 1101-1106, 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008, Beijing, China, 12/10/08. https://doi.org/10.1109/ITSC.2008.4732532

Stability of string of adaptive cruise control vehicles with parasitic delays and lags. / Xiao, Lingyun; Darbha, Swaroop; Gao, Feng.
Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. p. 1101-1106 4732532 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we examine the effect of parasitic delays and lags on the stability of a string of vehicles equipped with Adaptive Cruise Control (ACC) system which is employed a constant time headway (CTH) policy. The control law of the ACC system is based on a simpler model of the vehicle that does not ignore the parasitic delays and lags. The main result of this paper is that string stability can be guaranteed if the constant time headway h, is at least twice the sum of the parasitic delays Δ, and the parasitic lags τ, that is, h > 2(Δ + τ). This result extends and generalizes the earlier results of Darbha [6] by considering parasitic delays and lags and provides a practical direction for ACC system design and implementation from the viewpoint of robustness to parasitic delays and lags.

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Xiao L, Darbha S, Gao F. Stability of string of adaptive cruise control vehicles with parasitic delays and lags. In Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems, ITSC 2008. Institute of Electrical and Electronics Engineers Inc. 2008. p. 1101-1106. 4732532. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC.2008.4732532

Stability of string of adaptive cruise control vehicles with parasitic delays and lags

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