具有量化反馈的顾前顾后型车辆跟随控制

Vehicle following control with quantization feedback by using front and back information

针对一类考虑前后相邻车辆信息的顾前顾后型车辆跟随系统,研究量化反馈下的自动纵向跟随控制问题。假定每个跟随车辆通过无线网络获得前后相邻车辆及领头车辆的状态信息,并且信息在对数量化器传输下存在量化误差。基于车辆非线性纵向动力学耦合模型,采用固定距离跟随策略,应用向量Lyapunov函数方法得出的非线性关联大系统群指数稳定性判据,将量化误差处理为不确定系统状态,给出量化反馈信号影响下的滑模控制律,并设计满足车队群稳定性的控制器参数。仿真结果表明:设计的车辆纵向跟随控制器对量化误差产生的影响进行了有效补偿,与不考虑量化误差干扰设计的控制器相比,本控制器能够显著提高车辆跟随误差的收敛速度。

For a class of vehicle following system using front and back information, the problem of longitudinal following control of vehicles in platoon with quantization feedback was studied. Every following vehicle in platoon was supposed to get the information with logarithmic quantization errors of the leading vehicle, the predecessor and the follower via wireless network. Based on the nonlinear longitudinal dynamics coupled model of vehicles in platoon, the quantization errors were conducted as uncertain system states and an exponential string stability criterion of a nonlinear interconnected complex system solved by a method applying vector Lyapunov function was used. A sliding mode control law with quantization feedback was designed by using constant spacing safety policy. And control parameters which ensure string stability of this system were given. The simulation result shows that the compensation generated by this controller is effective for quantization errors. And compared with the controller when quantization errors are not taken into consideration, this controller obtains a higher convergence rate of vehicle following errors.