跟驰驾驶行为的滑模控制系统建模

为量化描述跟驰驾驶行为的特质,即个人意志(即稳速驾驶)与环境干扰(即车辆间距、速度差、加速度差)间的动态调和,剖析了跟驰驾驶行为的"运动跟踪(即跟驰车辆对前导车辆速度、加速度轨迹的跟踪)"特性与"刺激-反应"机理,建立了"刺激-反应"行为模式下跟驰驾驶行为的2阶滑模控制系统模型;通过数学分析验证了本模型控制的跟驰车辆运动的Lyapunov渐近稳定性.并通过数值仿真说明了本模型控制的跟驰车队的运动可能具备Lyapunov渐近稳定性.

Sliding mode control system modeling of car-following driving behavior

In order to quantitatively depict the car-following driving behavior in nature of the dynamic compromise between individual motive(i.e.velocity-stabilizing driving)and environmental interference(i.e.space,velocity difference, acceleration difference between the leading car and the following car),a second-order sliding mode control system modeling of car-following driving behavior is proposed within the framework of stimulus-response behavior model,based upon the analysis of"motion tracking(i.e.velocity and acceleration trajectories tracking to the leading car by the following car)"characteristic and"stimulus-response"mechanism of car-following driving behavior.The Lyapunov asymptotic stability of the car-following movement of a single vehicle under the control of the proposed model is then validated by mathematical analysis.Moreover,the possibility of Lyapunov asymptotic stability of car-following movement of the vehicle-queue under the control of the proposed model is revealed by numerical simulation.