汽车工程 ›› 2023, Vol. 45 ›› Issue (8): 1320-1332.doi: 10.19562/j.chinasae.qcgc.2023.08.003
所属专题: 智能网联汽车技术专题-控制2023年
边有钢1,2,张田田1,谢和平1,3,秦洪懋1,2(),杨泽宇1,2
收稿日期:
2023-05-05
修回日期:
2023-06-16
出版日期:
2023-08-25
发布日期:
2023-08-17
通讯作者:
秦洪懋
E-mail:qinhongmao@vip.sina.com
基金资助:
Yougang Bian1,2,Tiantian Zhang1,Heping Xie1,3,Hongmao Qin1,2(),Zeyu Yang1,2
Received:
2023-05-05
Revised:
2023-06-16
Online:
2023-08-25
Published:
2023-08-17
Contact:
Hongmao Qin
E-mail:qinhongmao@vip.sina.com
摘要:
本文研究过弯场景下车辆队列的抗扰抗内切协同路径跟踪控制方法。首先,基于前车直接跟随式方案,采用圆弧曲线跟踪路径代替一般直线跟踪路径,构建车辆队列过弯抗内切策略,以降低车辆队列过弯时的整体跟踪误差;其次,设计卡尔曼滤波器和龙伯格观测器,以解决跟随车位置状态噪声及航向状态噪声或不易量测的问题;然后,设计协同路径跟踪控制器,并基于李雅普诺夫稳定性理论导出系统稳定的充分条件,指导控制器参数设计;最后,通过数值仿真和实车试验验证控制器设计的可行性和有效性。
边有钢,张田田,谢和平,秦洪懋,杨泽宇. 车辆队列抗扰抗内切协同路径跟踪控制[J]. 汽车工程, 2023, 45(8): 1320-1332.
Yougang Bian,Tiantian Zhang,Heping Xie,Hongmao Qin,Zeyu Yang. Anti-disturbance and Anti-corner-cutting Control for Collaborative Path Tracking of Vehicle Platoon[J]. Automotive Engineering, 2023, 45(8): 1320-1332.
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