Research on Cooperative Control Strategy of Vehicle Formation
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更新:2021-12-03 10:19:55 浏览:127次
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摘要
Collaborative control of vehicle formation is the key problem of vehicle-road collaborative system , it’s the main means to improve road capacity and safety. For this purpose, the following research were carried out:
Firstly, since the global control rule of the leader-follower method is relatively simple and close to practical application, vehicle formation can be achieved only by grasping the motion information of the pilot vehicle and designing a reasonable control strategy for the following vehicle, and the stability of the following vehicle can be maintained well, the leader-follower method was applied. And the virtual vehicle model was introduced. The tracking problem of the following vehicle and the pilot vehicle was transformed into the tracking problem of the following vehicle to the virtual vehicle. On the basis of a single vehicle mathematical model, a two-vehicle leader-follower error model was established. Secondly, the backstepping method and the sliding mode control theory were introduced to deduce the adaptive control law due to its better disturbance resistance. And the asymptotic stability of the system was proved based on Lyapunov stability theory. Thus the expected position error with the pilot vehicle was maintained, and the tracking strategy was established. However, considering the chattering problem of sliding mode control, the robust control algorithm with strong robustness to disturbances was used to design the controller. Finally, tests were processed on the different conditions, such as acceleration, uniform speed and deceleration. The result shows that the formation achieves the prospective control effect, and the effectiveness of the algorithm is verified.
Key words: Vehicle-Road Cooperative System, Leader-follower method, Backstepping Method, Sliding mode control
稿件作者
Ruiqi Du
Taiyuan University of Science and Technology
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