Many recent experiments have shown that the current commercially available adaptive cruise control (ACC) systems demonstrate string instability phenomena. The lower-level time-lag, the sensor time-delay, and the input disturbance primarily contribute to such instability. This paper presents a unified strategy to design ACC systems compensating the lower-level time-lag, the sensor time-delay, and the input disturbance, by fulfilling the over-damped string stability criterion for homogeneous platoons. The over-damped feature associated with string stability explicitly addresses the safety of a platoon in a stricter sense, considering the transient convergence effects, such as over-shoot, under-shoot, and oscillations, and satisfying all the $L_p$ stability norms, where $p\in \left[1,\infty \right]$. In this article, the derived over-damped string-stable strategy compensating lag, delay, and disturbance (OSSCLDD) is presented in a general unified form that applies to any linear or convex velocity-dependent spacing functions. The derived strategy is demonstrated and validated via simulation using a linear constant time gap spacing function and two nonlinear spacing functions, namely, the variable time gap and the quadratic range spacing function.

最近的许多实验表明，目前市售的自适应巡航控制 (ACC) 系统表现出弦不稳定现象。较低级别的时滞、传感器时间延迟和输入干扰是造成这种不稳定性的主要原因。本文提出了一种统一的策略来设计 ACC 系统，通过满足同质排的过阻尼弦稳定性准则来补偿低级时滞、传感器时延和输入干扰。考虑到瞬态收敛效应，例如过冲、下冲和振荡，并满足所有${\mathrm{大号}}_p$稳定性规范，其中$p\in \left[\mathrm{1个},\infty \right]$. 在本文中，导出的过阻尼弦稳定策略补偿滞后、延迟和干扰 (OSSCLDD) 以适用于任何线性或凸速度相关间距函数的通用统一形式呈现。通过使用线性恒定时间间隔函数和两个非线性间隔函数（即可变时间间隔和二次距离间隔函数）的仿真来演示和验证导出的策略。