Citation/Abstract

The objective of this thesis is to design an intelligent cruise controller for the motion control of a vehicle platoon and discuss the relationship between following distance and signal sampling frequency. For safe vehicle following, an Adaptive cruise control (ACC) law is considered in an impedance model based approach. The impedance model is developed to guide the dynamic behavior of the following vehicles. In order to assure the safety of the vehicle platoon, it is necessary to regulate the distance between vehicles at an appropriate value. The proposed control law uses relative speed and spacing as well as preceding acceleration information to choose a proper control action for maintaining a desired following distance. Simulations are carried out in Matlab®/Simulink workspace to verify the stability and performance for both multiple vehicles control and adaptive cruise control