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【背景】延时是影响自适应巡航控制（ACC，Adaptive Cruise Control）系统稳定性的重要因素。现有研究普遍认为ACC系统的延时主要由测量延时和动力系统响应延时构成，而忽略了控制器指令下发至执行器过程中的延时效应。通过真实场地跟驰实验数据辨识发现，除上述两类延时外，ACC系统中还显著存在一种“控制指令延时”。【方法】为探究该延时对系统动态特性的影响，本文在现有ACC跟驰模型中引入控制指令延时项，运用系统传递函数分析法推导了误差传播机制，得到了ACC车队的队列稳定性判定条件与理论稳定域。【结果】进一步地，通过数值仿真实验，验证了理论边界的准确性，并深入剖析了控制指令延时对车辆队列稳定性的具体影响。【结论】理论与仿真结果一致表明：控制指令延时的引入会显著缩减系统的整体稳定域，但不会改变Ⅰ类不稳定域的边界；值得注意的是，当位置误差增益系数趋于极小值，且速度误差增益系数取值为期望车头时距的倒数时，系统存在一个不受控制指令延时影响的绝对稳定参数点。【应用】本研究为实际自动驾驶ACC系统的参数标定与安全控制提供了重要的理论依据。
Abstract：【Background】Time delay is an important factor affecting the stability of adaptive cruise control (ACC) systems. Existing studies generally consider ACC system delays to include measurement delay and powertrain response delay， while neglecting another type of delay in the control loop， namely the control command delay. Existing studies generally assume that ACC system delays consist primarily of measurement delays and powertrain response delays， often neglecting the delay during the transmission of control commands to the actuators. However， field car-following experiments and data identification reveal the significant presence of a "control command delay" in practical ACC systems. 【Method】To investigate its impact， this study introduces a control command delay term into existing ACC models. By employing the system transfer function method， the string stability criteria and the theoretical stability region of the ACC vehicle platoon are derived. 【Results】Furthermore， numerical simulations are conducted to verify the theoretical boundaries and analyze the effect of control command delay on string stability. 【Conclusion】Both theoretical analysis and simulation results demonstrate that the control command delay significantly reduces the overall stability region of the system， though it does not alter the boundary of the Type I unstable region. Notably， when the position error gain approaches a minimal value and the velocity error gain equals the reciprocal of the desired time headway， there exists an absolute stable parameter point that remains unaffected by the control command delay. 【Application】This study provides a vital theoretical basis for the parameter calibration and safe control of practical ACC systems.
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基本信息:
DOI：10.19961/j.cnki.1672-4747.2025.11.014
中图分类号:U463.6
引用信息:
[1]侯宇轩,马克,姜锐,等.引入控制指令延时的自适应巡航控制系统稳定性分析[J].交通运输工程与信息学报().DOI:10.19961/j.cnki.1672-4747.2025.11.014.
基金信息:
国家自然科学基金项目（52072067，W2411064）; 广东省重点领域研发计划项目（2022B0101070001）
2026-06-03
2026-06-03
2026-06-03