论文标题
纵向车辆控制的输入到州安全性和输入延迟
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
论文作者
论文摘要
讨论了一辆连接的自动化卡车在前面连接的车辆后面行驶的纵向控制。通过考虑到卡车的显着响应时间作为输入延迟以及其动力学模型的不确定性作为输入干扰，提出了基于控制屏障函数理论和预测无碰撞行为的预测反馈。与忽略延迟或将延迟视为干扰的对照设计相比，所提出的控制器的好处是数值模拟显示的。
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe, collision-free behavior by taking into account the significant response time of the truck as input delay and the uncertainty of its dynamical model as input disturbance. The benefits of the proposed controller compared to control designs that neglect the delay or treat the delay as disturbance are shown by numerical simulations.
