NONLINEAR VEHICLE DISTANCE CONTROL IN LONGITUDINAL DIRECTION

Autonomous intelligent cruise control design is a very important aspec t of automation systems in future traffic patterns. A strategy for aut omated vehicle tracking is described, which keeps a velocity-dependent distance between the vehicles in order to provide a constant time-hea dway. As it is based on the principle of feedback linearization, highl y structured and organized algorithms can be provided, without using s pecial preferred operating points. Essential nonlinearities ave compen sated for in a direct way, and an arbitrary linear behaviour can be im posed on the remaining system. In order to provide a fast transient be haviour and insensitivity to disturbances, the control laws include, b esides a proportional part, derivative as well as integral terms. Furt hermore, the system is prevented from having an overshoot, and comfort parameters can be adjusted. Owing to its high performance, this contr ol system directly contributes to the enhancement of traffic safety.