考虑前后信息的车辆跟随自适应控制

任殿波¹, 张策², 张继业³

1.哈尔滨工业大学(威海)汽车工程学院;2.哈尔滨工业大学(威海)计算机科学与技术学院;3.西南交通大学牵引动力国家重点实验室



摘要:

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稳定性进行分析,得到系统控制参数的收敛区域.仿真结果表明:在领头车辆速度发生变化情况下,设计的具有未知不确定参数的车辆跟随控制规律能使车辆间距误差具有较快的收敛速度.

关键词:  自动化公路系统  车辆跟随  滑模自适应控制  Lyapunov函数

DOI：10.11918/j.issn.0367-6234.2011.06.016

分类号:U491

基金项目:山东省自然科学基金资助项目(ZR2010FM008);哈尔滨工业大学(威海)校科学研究基金资助项目(HIT(WH)XB200903)



Vehicle following adaptive control using front and back information

REN Dian-bo¹, ZHANG Ce², ZHANG Ji-ye³

1.School of Automotive Engineering,Harbin Institute of Technology at Weihai,264209;2.School of Computer Science and Technology,Harbin Institute of Technology at Weihai, 264209 Weihai,Shandong,China;3.State Key Laboratory of Traction Power,Southwest Jiaotong University,610031 Chengdu,China)

Abstract:

To improve the control performance of vehicle in automated highway systems,we studied the longitudinal control for vehicle following using front and back information in the presence of parametric uncertainty.Based on the longitudinal dynamical model of vehicle,with constant spacing safety policy in a platoon,the longitudinal directed 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.The simulation results show that,when the speed of the lead vehicle changes,the convergence rate of spacing errors of the vehicle with parametric uncertainty is fast.

Key words:  automated highway systems  vehicle following  adaptive sliding mode control  Lyapunov function