考虑前后信息的车辆跟随自适应控制

为了增进自动化公路系统车辆控制系统的工作性能,考虑前后车辆信息,研究具有参数不确定性的车辆纵向跟随控制.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,基于车辆纵向动力学模型,采用固定期望车辆间距跟随策略,设计了车辆纵向跟随直接自适应滑模控制规律;应用Lyapunov函数方法和M-矩阵知识,对车辆跟随系统的渐近...

Vehicle following adaptive control using front and back information

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 longitudinal dynamical model of vehicle, in the presence of parametric uncertainty, the longitudinal adaptive sliding mode 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 the properties of M-matrix, the asymptotic stability domain of the controller parameters of string of vehicle was established. From the results of simulation in the presence of states variation of lead vehicle, with the novel control method, convergence rate of spacing errors of the vehicle with parametric uncertainty is fast.