车辆队列抗扰抗内切协同路径跟踪控制

doi:10.19562/j.chinasae.qcgc.2023.08.003

Abstract

Abstract:

The anti-disturbance and anti-corner-cutting collaborative path tracking control method for a vehicle platoon under the turning scenario is studied in this paper. Firstly, based on the predecessor-following topology scheme，a platoon turning anti-corner-cutting strategy is constructed by using circular-arc curve tracking path to replace the general straight-line tracking path, alleviating the overall tracking error of the vehicle platoon during turning. Secondly, a Kalman filter and a Luenberger observer are designed to address the problem of position noise and heading noise of the following vehicle or difficult measurement. Then, a collaborative path tracking controller is designed. By using the Lyapunov stability theory, sufficient conditions for system stability are derived for controller parameter design. Finally, the feasibility and effectiveness of the designed controller are validated through numerical simulation and real-vehicle experiments.

Key words: intelligent and connected vehicle, path tracking control, collaborative control, anti-disturbance control

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.

Figures/Tables 20

项目	参数	数值
领航车	PID控制器	$k p = 0.3, k i = 0, k d = 0$
	预瞄常数	2 m
	预瞄系数	0.2
跟随车	控制增益	$k 1, i = 3, k 2, i = 3$
跟随车	跟车时距	0.2 s

参数	数值
过程噪声协方差矩阵	$Q i = 0.0001 I$
测量噪声协方差矩阵	$R i = 0.1 I$
误差协方差矩阵	$P i = 0.01 I$

项目	参数	数值
领航车	PID控制器	$k p = 0.1, k i = 0, k d = 0$
	预瞄常数	1.2
	预瞄系数	0.1
跟随车	反馈增益	$k 1, i = 3, k 2, i = 3$
	停车间距	1.26 m
	跟车时距	0.2 s

参数	数值
过程噪声协方差矩阵	$Q i = 0.001 I$
测量噪声协方差矩阵	$R i = 0.1 I$
误差协方差矩阵	$P i = 0.001 I$
观测器增益	$h i, 1 = 30, h i, 2 = 30$ $h i, 3 = 10, h i, 4 = 10$

References 24

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Anti-disturbance and Anti-corner-cutting Control for Collaborative Path Tracking of Vehicle Platoon

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