基于向量Lyapunov函数方法的顾前顾后型车辆跟随控制

Vehicle following control using front and back information based on vector Lyapunov function

采用固定车辆间距跟随策略,研究考虑前后车辆信息的"顾前、顾后"型自动化公路系统车辆纵向跟随控制。假定被控车辆能获得前后相邻车辆及车队领头车辆的状态信息,基于非线性车辆纵向动力学模型,设计了车辆跟随系统的纵向滑模控制规律;应用向量Lyapunov函数方法和比较原理,对一类无限维非线性关联系统的稳定性进行研究,在假定系统满足全局Lipschitz条件的情况下,以孤立子系统的稳定性条件为基础,得到该类非线性关联系统指数稳定性充分判据;基于该稳定性判据,对"顾前、顾后"型车辆跟随系统的稳定性进行分析,得到系统控制参数的收敛区域。研究结果表明:设计的车辆纵向跟随控制规律能使车辆速度误差和间距误差具有较快的收敛速度。

With constant spacing safety policy in a platoon,the longitudinal control for vehicle following using front and back information in automated highway systems was studied.Based on the nonlinear dynamical model of vehicle,applying sliding mode control method,the longitudinal control laws for each vehicle in a platoon was designed depending on the information from the immediate predecessor,the immediate follower and the platoon leader available for feedback.By using vector Lyapunov function and comparison method,the string stability of a class of infinite nonlinear interconnected systems was investigated.Under the assumption that the systems be globally Lipschitz,under the conditions of stability of isolated subsystems,the new sufficient condition for exponential string stability of the class of interconnected systems was obtained.Based on the new results for the class of nonlinear interconnected systems,the stability domain of the controller parameters of string of vehicle was established.The results shows that,with the novel control method,convergence rate of spacing errors and velocity errors of the vehicle platoon is fast.