摘要
当前对协同自适应巡航控制算法的研究主要集中在单车道纵向方向上,对横向控制考虑的很少,但实际车辆运动过程中转弯以及换道等场景必不可少。为此,本文基于Frenet框架对车队中单个车辆的动力学模型在横向与纵向两个自由度进行解耦。针对车辆的纵向控制问题,通过满足指数收敛条件来保证被控车辆对临近前车和首车的跟踪性,并通过sigmoidal函数来平衡跟踪权重。针对车辆的横向控制问题,采用李雅普诺夫方法进行控制算法设计。仿真实验结果验证了本文控制算法的有效性。
At present,the research of cooperative adaptive cruise control algorithm mainly focuses on the longitudinal direction of single lane,and little consideration is given to the lateral control.However,the scenes like turning and lane changing are essential in actual driving process.Therefore,the dynamic model of a single vehicle in a platoon is decoupled in lateral and longitudinal directions based on Frenet framework in this paper.Aiming at the longitudinal control problem of the vehicle,the tracking performance of the controlled vehicle to its adjacent one and the leader is guaranteed by satisfying the exponential convergence condition,and the tracking weight is balanced by the sigmoidal function.As for the vehicle lateral control problem,the Lyapunov method is used to design the control algorithm.Finally,the effectiveness of the proposed control algorithm is verified by simulation experiments.
作者
聂光明
谢波
田彦涛
NIE Guang-ming;XIE Bo;TIAN Yan-tao(College of Communication Engineering,Jilin University,Changchun 130022,China;Key Laboratory of Bionic Engineering,Ministry of Education,Jilin University,Changchun 130022,China)
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2022年第7期1687-1695,共9页
Journal of Jilin University:Engineering and Technology Edition
基金
国家自然科学基金-区域创新发展联合基金项目(U19A2069)。
关键词
车辆工程
协同自适应巡航控制
轨迹跟踪
Frenet框架
vehicle engineering
cooperative adaptive cruise control
trajectory tracking
Frenet framework
