Intelligent cruise control for vehicles based on feedback linearization

Autonomous intelligent cruise control design is a very important contribution to introducing automation systems in future traffic patterns. A strategy for automated vehicle tracking, keeping a velocity dependent distance in order to provide automatically a constant time-headway, is described. As it is based on the principle of feedback linearization, clearly arranged algorithms can be provided, where no special preferred operating points are required. Essential nonlinearities are compensated in a direct way and on the remaining system a free choosable linear behavior can be impressed. In order to provide a fast transient behavior and insensitivity to disturbances, the control laws include, besides a proportional part, differentiation as well as integration terms. Furthermore overshoot behavior is opposed and comfort parameters can be adjusted. Due to its high performance, this control system establishes an important contribution in the enhancement of traffic safety.