For a vehicle queue system with multiple disturbances, and considering the stability of the queue and that the vehicle can adjust its position autonomously to meet the actual demand of the desired vehicle spacing, a collaborative adaptive cruise control strategy based on backstepping is designed by introducing an input saturation constraint and the artificial potential field method. Based on the driving state of adjacent vehicles, an expected vehicle spacing model was designed based on the artificial potential field method, and the vehicle queue system was modeled as a system with multiple disturbances. The stability condition of the vehicle queue is transformed into a bounded constraint on the vehicle control signal, and then the stability control problem of the vehicle queue is transformed into a control problem of the vehicle queue considering input saturation. The hyperbolic tangent function is used to constrain the saturate control input of the vehicle, and the appropriate virtual control law and adaptive law are designed by backstepping method to eliminate multiple disturbances and ensure the stability of the queue. Simulation results verify the effectiveness of the proposed method.
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