自动化公路系统车队换道变结构控制

Variable structure control for platoon lane change in automated highway systems

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队换道的纵横向耦合控制.假定车队中每个跟随车辆依靠车间通信接收引导车辆以及该车前面相邻车辆的位移、速度信息,利用车载传感器获得车辆横摆角速度信息.基于满足正反梯形约束条件的侧向加速度,计算车辆换道时的期望横摆角和横摆角速度.采用有限时间滑模趋近律,设计了车队换道纵横向耦合变结构跟踪控制规律,基于李雅普诺夫稳定性理论,对控制系统的稳定性进行分析.仿真结果显示,采用文中设计的控制规律,对于车队中每个跟随车辆,在实现车辆自动换道的同时,纵向上能够保持满意的车间距离.

Based on the coupled longitudinal and lateral dynamic and lateral control for platoon lane change in automated highway following vehicle in the platoon, the information about speed and model of vehicle, the integrated longitudinal systems was studied. Assumed that for each position of lead vehicle and preceding vehicle can be obtained by intraplatoon communication, data of the yaw rate can be measured with on-board sensors. According to the trapezoidal acceleration trajectory, the desired yaw angle and yaw rate for lane changing were calculated. By applying finite time sliding mode reaching law, the coupled variable structure tracking control laws for lane change and vehicle following were designed and the stability of the control system was analyzed by using Lyapunov function method. For each following vehicle in the platoon, the performance of the synthesized control for lane change and longitudinal following was highlighted by simulation tests with the proposed control laws.