We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal adaptive cruise control mechanism which is model-free and achieves the aforementioned control objectives. The controller consists of a velocity funnel controller, which directly regulates the velocity when the leader vehicle is far away, and a distance funnel controller, which regulates the distance to the leader vehicle when it is close so that the safety distance is never violated. We provide a rigorous proof for the feasibility of the overall controller design. The funnel cruise controller is illustrated by a simulation of three different scenarios which may occur in daily traffic.

我们考虑车辆跟随的问题，在该问题上始终保证与领先车辆的安全距离，并尽可能达到理想的速度。我们将漏斗巡航控制器作为一种新颖的通用自适应巡航控制机制进行介绍，该机制无需模型即可实现上述控制目标。该控制器由一个速度漏斗控制器和一个距离漏斗控制器组成，该速度漏斗控制器在引导车辆远离时直接调节速度，在距离近时，该漏斗控制器调节与引导车辆的距离，从而不会违反安全距离。我们为整个控制器设计的可行性提供了严格的证明。通过模拟三种可能发生在日常交通中的场景来说明漏斗巡航控制器。