摘要
基于车辆纵横向动力学耦合模型,研究了自动化公路系统车辆换道纵横向耦合控制。假定换道过程中车辆横向加速度满足梯形约束,根据期望换道轨迹计算车辆换道时的期望横摆角和横摆角速度,依靠车载传感器获得车辆横摆角速度信息。采用有限时间滑模趋近律,设计了车辆换道纵横向耦合变结构控制规律。基于李雅普诺夫稳定性理论,对控制系统的稳定性进行了分析,得到了系统渐进稳定的充分条件。仿真结果表明:采用该控制规律,车辆在纵向速度变化的情况下能够良好地跟踪期望换道轨迹,跟踪误差小于0.06 m。
Based on vehicle longitudinal and lateral coupling dynamics model, the integrated longitudinal and lateral control for lane change in automated highway system was studied. Assuming the lateral acceleration meeted trapezoidal constraint, the desired yaw angle and yaw rate for lane change were derived by predetermined virtual trajectory, and the data of yaw rate can be measured with onboard sensors. With finite time sliding mode reaching law, the coupled lane change variable structure control law was designed. The stability of the control system was analyzed by using Lyapunov function method, and the sufficient condition ensuring the asymptotic stability of the control system was obtained. Simulation result shows that based on the proposed control law, vehicle has good track performance under various longitudinal velocities, and the track error is less than 0.06 m. 2 tabs, 4 figs, 9 refs.
出处
《交通运输工程学报》
EI
CSCD
北大核心
2009年第3期112-116,共5页
Journal of Traffic and Transportation Engineering
基金
国家自然科学基金项目(10772152)
关键词
交通控制
车辆换道
车辆跟随
变结构控制
traffic control
lane change
vehicle following
variable structure control
