中文摘要：

为了改善高速公路的通行能力和安全性,考虑随机因素的影响,研究一类顾前顾后自动高速公路车辆跟随系统的控制器设计。基于伊藤随机微分方程建立了随机车辆动力学模型,运用滑模控制设计了随机车辆纵向跟随系统的控制规律。然后根据系统稳定性判据分析了控制系统的稳定性,得到系统控制参数的收敛区域为式（18）~（20）。数值仿真实验表明：各跟随车辆的速度、加速度等状态在较短的时间内能迫近领头车辆,车间距误差有较快的收敛速度,在15 s内收敛于0。

英文摘要：

In order to improve traffic capacity and safety of highways, considering influence of random factors, the stability analysis and control for looking both ahead and behind of stochastic vehicle longitudinal following system in automated highway Systems are studied. Based on the vehicle dynamics model which is established by the Ito stochastic differential equation, the control law for the stochastic vehicle longitudinal following system is designed by the sliding mode control method. According to stability criterion of the stochastic vehicle following system, the stability of control system is analyzed and the sufficient conditions of the system for convergence are obtained by inequalities （18） - （20）. Numerical simulation results showed that velocity, acceleration and other state of each vehicle can approach the leading vehicle in a relatively short period of time.The error of distance between vehicles fast converges to 0 within 15 s.