论文标题
一个非线性汽车跟随控制器设计，灵感来自人类驾驶行为，以提高舒适性并提高安全性
A Nonlinear Car-following Controller Design Inspired By Human-driving Behaviors to Increase Comfort and Enhance Safety
论文作者
论文摘要
本文调查了跟随汽车的问题，并提出了一个非线性控制器，该控制器考虑舒适，安全问题，稳态响应和瞬态响应。该控制器的设计基于较低的成本，更快的响应，提高舒适度，增强的安全性和提高汽车行业的扩展性的需求。设计见解和直觉详细提供。此外，对植物稳定性，弦稳定性和闭环系统的跟踪性能进行了理论分析。根据控制参数的选择提供了条件和准则。进行了全面的模拟，以证明所提出的控制器在不同驾驶场景中的功效。
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower cost, faster response, increased comfort, enhanced safety and elevated extendability from the automotive industry. Design insights and intuitions are provided in detail. Also, theoretical analysis are performed on plant stability, string stability and tracking performance of the closed-loop system. Conditions and guidelines are provided on the selection of control parameters. Comprehensive simulations are conducted to demonstrate the efficacy of the proposed controller in different driving scenarios.
