This paper investigates the string stability and traffic flow stability based on an improved quadratic spacing policy for heterogeneous vehicular platoons with actuator faults. Due to the occurrence of actuator faults, the maximum acceleration changes, which may invalid the traditional quadratic spacing policy. To tackle the dilemma, an improved quadratic spacing policy with the lower bound of fault factor is proposed. Furthermore, the improved quadratic spacing policy removes the assumption of zero initial spacing errors. Then, by employing the adaptive fuzzy logic system technique and the PID-type sliding mode control method, an adaptive fuzzy fault-tolerant controller is designed to guarantee individual vehicle stability and string stability after reaching the sliding surface. In addition, traffic flow stability is also ensured thanks to the improved quadratic spacing policy. Finally, simulation results have demonstrated the reliability and effectiveness of the presented method.

本文基于改进的二次间距策略，研究了具有执行器故障的异类车辆排的弦稳定性和交通流稳定性。由于执行器故障的发生，最大加速度会发生变化，这可能会使传统的二次间距策略无效。为了解决这一难题，提出了一种具有故障因子下限的改进的二次空间策略。此外，改进的二次间距策略消除了零初始间距误差的假设。然后，通过采用自适应模糊逻辑系统技术和PID型滑模控制方法，设计了一种自适应模糊容错控制器，以保证各个车辆到达滑面后的稳定性和弦稳定性。此外，改进的二次间距策略也确保了交通流量的稳定性。最后，仿真结果证明了该方法的可靠性和有效性。