Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise following-control(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of vehicles.Firstly,a traditional variable time headway model is improved considering the acceleration of the lead car.Secondly,an interval type-2 fuzzy logic controller(ITT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating habits.To reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control structure.Thirdly,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)separately.Meanwhile,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different scenes.Finally,the simulation results show the effectiveness of 1T2 FLC for the upper structure and F+FPIF control for the lower structure.

College of Electric and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China;State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190;Qingdao Academy of Intelligent Industries,Qingda 266109;Center of China Economic and Social Security,University of Chinese Academy of Sciences,Beijing 100190,China;Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control,the School of Artificial Intelli-gence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China

[1]Hong Mo;Yinghui Meng;Fei-Yue Wang;Dongrui Wu-.Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-Control for Intelligent Vehicles)[J].自动化学报（英文版）,2022(09):1658-1672

ACFC,headway,feedforward+fuzzy,F+FPIF,ITT2,subsection,1T2

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