Abstract: A vehicle cruise system is modeled by integrating the dynamics characters of heavy-duty vehicle and vehicle convoy consisting two vehicles on low speed condition. Based on the model, the nonlinear disturbance decoupling theory is applied to separate the desired control object (inter vehicles relative distance and velocity) from the disturbance of leading vehicle’s acc/deceleration, and realize the linearization of nonlinear system simultaneously. By adopting this decoupling linear subsystem, a developed stop and go cruise control systems is proposed. Computer simulation are conducted to illustrate the performance of control systems, the test results show that not only satisfying dynamic response characteristics are obtained, but also global decoupling from disturbance of leading vehicle’s acc/deceleration can be realized. The simulating calculation verifies the effect of the control.

Key words: Dynamics model, Nonlinear disturbance decoupling, Stop and go cruise control