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基于车辆纵横向动力学耦合模型,研究了自动化公路系统车辆换道纵横向耦合控制。假定换道过程中车辆横向加速度满足梯形约束,根据期望换道轨迹计算车辆换道时的期望横摆角和横摆角速度,依靠车载传感器获得车辆横摆角速度信息。采用有限时间滑模趋近律,设计了车辆换道纵横向耦合变结构控制规律。基于李雅普诺夫稳定性理论,对控制系统的稳定性进行了分析,得到了系统渐进稳定的充分条件。仿真结果表明:采用该控制规律,车辆在纵向速度变化的情况下能够良好地跟踪期望换道轨迹,跟踪误差小于0.06 m。
Based on the vehicle longitudinal and lateral dynamics coupling model, the vehicle longitudinal and transverse coupling control of automatic highway system was studied. It is assumed that the traversing acceleration of the vehicle meets the trapezoidal constraint during the lane change, the expected yaw angle and yaw rate of the lane change are calculated according to the expected lane change trajectory, and the vehicle yaw rate information is obtained by using the vehicle-mounted sensor. Using the finite-time sliding-mode approach law, the vehicle longitudinal and transverse coupling variable structure control law was designed. Based on the Lyapunov stability theory, the stability of the control system is analyzed, and the sufficient conditions for the system to be asymptotically stable are obtained. The simulation results show that the proposed control law can track the expected lane change trajectory with a tracking error of less than 0.06 m under the condition of longitudinal speed variation.