摘要
针对智能网联车辆轨迹跟踪问题,本文通过考虑车辆跟驰作用和车车通信过程中存在的通信时延,提出了一种分布式非线性轨迹跟踪控制器.具体来讲,首先,提出一种双向领导跟随通信拓扑来描述智能网联环境下车辆间的通信连接.其次,考虑车辆跟驰作用和通信时延,设计一种分布式非线性轨迹跟踪控制器.然后,使用Lyapunov方法证明了所设计控制器的稳定性.最后,考虑速度干扰作用于领导者车辆,针对无时延、同质时延和异质时延等三种场景进行数值仿真实验.仿真结果表明:本文所设计的控制器不仅保证了车辆位置跟踪误差收敛到原点,而且车辆运动规律符合交通流理论,即无负位置跟踪误差和负速度现象.
For the trajectory tracking problem of connected vehicles(CVs),a distributed nonlinear trajectory tracking controller is proposed by incorporating the car-following interactions between vehicles and time delays in this study.In particular,a bidirectional leader-follower communication topology is utilized to characterize the connections among CVs.Then,considering the car-following interactions between vehicles and time delays,a distributed nonlinear trajectory tracking controller for follower vehicles is proposed.Further,the stability of the proposed controller is analyzed using the Lyapunov technique.Finally,simulations are performed for leader with external disturbance and three scenarios:no time delays,homogeneous time delays,and heterogeneous time delays.The simulation results show that the proposed controller in this study not only ensures that position tracking error converges to the origin,but also the vehicle motion is consistent with the traffic flow theory,which means that the negative position tracking error and negative velocity are avoided.
作者
李永福
邬昌强
朱浩
唐晓铭
LI Yong-Fu;WU Chang-Qiang;ZHU Hao;TANG Xiao-Ming(Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing,College of Automation,Chongqing University of Posts and Telecommunications,Chongqing 400065)
出处
《自动化学报》
EI
CAS
CSCD
北大核心
2021年第9期2264-2275,共12页
Acta Automatica Sinica
基金
国家自然科学基金(61773082)
重庆市自然科学重点研发项目基金(cstc2018jszxcyzdX0064)
重庆市重点基金(cstc2017jcyjBX0018)
国家重点研发计划(2016YFB0100906,2018YFB1600502)
重庆邮电大学重点专项基金(A2018-02)资助。
关键词
智能网联车辆
轨迹跟踪
跟驰作用
通信时延
Connected vehicle(CV)
trajectory tracking
car-following interactions
communication time delays
作者简介
通信作者:李永福,博士,重庆邮电大学自动化学院教授,智能空地协同控制重庆市高校重点实验室主任.主要研究方向为智能网联汽车和空地协同控制.E-mail:liyongfu@cqupt.edu.cn;邬昌强,重庆邮电大学自动化学院硕士研究生.主要研究方向为车辆轨迹跟踪控制.E-mail:wucq h1228@163.com;朱浩,博士,重庆邮电大学自动化学院副教授.主要研究方向为智能车环境感知与信息融合.E-mail:zhuhao@cqupt.edu.cn;唐晓铭,博士,重庆邮电大学自动化学院副教授.主要研究方向为网络化控制和模型预测控制.E-mail:tangxm@cqupt.edu.cn。
