摘要
自动化公路系统(Automated Highway System)是智能交通系统(IntelligentTransport System)最主要的子系统之一,该系统旨在实现车辆自动导航和控制、交通管理以及事故处理等的自动化,提高整个公路系统的安全性和运行效率。自动化公路系统中一项重要内容是研究和设计车辆纵向、横向控制规律,实现车辆无人驾驶。本文从车辆动力学模型的建立入手,在对几类非线性关联系统稳定性分析的基础上,对车辆纵向跟随、车道保持、车辆换道等自动化公路系统车辆自动控制的有关内容进行了研究。
对影响汽车运动的主要因素及汽车纵向运动和侧向运动的相互影响进行了分析。基于汽车受力分析和动力学定律,以车辆纵向速度、横向速度及横摆角速度为状态变量,分别建立了汽车纵向运动、侧向运动以及纵横向耦合运动的动力学模型。
对两类具有时间滞后的无限维非线性关联系统的群指数稳定性进行了研究。以系统的孤立子系统稳定性条件为基础,应用向量李雅普诺夫函数方法和比较原理,在假定系统满足全局Lipschitz条件的情况下,得到了关联系统指数稳定的充分判据。
对自动化公路系统车辆纵向跟随控制进行了研究。就“顾前”型和“顾前顾后”型两种控制思路,基于车辆纵向动力学模型和固定车间距跟随策略建立了车辆跟随误差的动态方程;假定车队中每个跟随车辆依靠车间通信接收领头车辆以及该车相邻车辆的位移、速度信息,以车辆作动/制动作用力为控制变量,设计了变结构控制规律;基于非线性关联系统指数稳定性判据,对控制系统的稳定性进行了分析。对具有参数不确定性的车辆纵向控制系统,针对参数有界和参数慢变这两种情况分别进行了研究,设计了变结构鲁棒控制规律和参数自适应律。
对自动化公路系统车道保持控制进行了研究。基于车辆横向动力学模型和车辆预瞄机制,建立了车辆侧滑位置误差和横摆角误差的动态方程;假定利用车载传感器获得车辆重心相对于车道中心线的横摆角及侧向位置偏差,采用非线性滑模和有限时间滑模趋近律,以车辆前轮转向角为控制变量,设计了车道保持变结构控制规律;在系统具有不确定参数和外界干扰的情况下,基于李雅普诺夫函数方法,设计了变结构自适应控制规律和参数自适应规律。
对自动化公路系统车辆换道控制进行了研究。假设期望的侧向加速度满足正反梯形的约束条件,考虑起始车道和目的车道曲率的不同,对弯道上的车辆换道轨迹进行了规划;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;假定依靠速度传感器获得横摆角速度信息,基于车辆横向动力学模型,采用有限时间滑模趋近律,设计了车辆换道变结构控制规律;基于李雅普诺夫函数方法,对车辆侧滑速度进行了估计。
对自动化公路系统车辆纵横向耦合控制进行了研究。基于车辆纵横向耦合动态模型和车辆队列,采用有限时间滑模趋近律,设计了车道保持、车辆换道与纵向跟随的耦合控制规律;基于李雅普诺夫函数方法,对控制系统的稳定性进行了分析。
对基于车间通信的车辆出入队控制进行了研究。综合利用车辆纵向跟随、车道保持、车辆换道等控制方法,设计了自动化公路系统车辆出队、入队的控制算法和规律。
对取得的理论研究结果,利用Matlab工具进行了计算机仿真实验。仿真结果验证了文中设计的车辆纵向、横向控制规律的有效性以及车辆出入队控制算法的可行性。
Automated Highway System (AHS) is an uppermost subsystem of Intelligent Transport System (ITS). The system includes vehicle automatic navigation and control, traffic management automation and traffic accident treatment automation. It will significantly increase the throughput on the highways and enhance driving safety. A key factor in AHS deployment is the synthesis and design longitudinal and lateral control laws for vehicle automated driving. In this dissertation, from constructing dynamic model of vehicle, based on the stability analysis for interconnected nonlinear systems, the longitudinal control for vehicle following, and lateral control for lane keeping and lane changing in AHS were studied.
The important factors affecting vehicle driving performance, and the coupling effects between longitudinal vehicle dynamics and lateral vehicle dynamics were investigated. Based on the analysis of vehicle dynamics, by using some of dynamics theorems, the longitudinal dynamic model, lateral dynamic model, and coupled dynamic model considering the coupling effects were constructed by taking the longitudinal velocity, lateral velocity, and yaw rate as the states.
The stability of two classes of infinite-dimensional nonlinear interconnected systems was studied. Under the assumption that the systems are globally Lipschitz, from the conditions of stability of isolated subsystems decomposed from the interconnected nonlinear systems, by applying vector Lyapunov function method and comparison principle, the sufficient conditions of exponential string stability for these interconnected systems were obtained.
The longitudinal control for vehicle following in AHS was studied. By employing "look ahead" and "look both ahead and behind" approach for control systems design, respectively, based on longitudinal dynamic model of vehicles and constant spacing policy, the dynamical equation for spacing errors of the string vehicles was constructed, assuming that each controlled vehicle in the platoon has full access to information on the position, velocity and acceleration of lead vehicle and vehicle in front and behind of it, by sliding mode control method, the longitudinal control laws for vehicle following were designed by taking the propulsive/braking effort as the control input. The stability of the longitudinal following control system was analyzed by the stability criteria of nonlinear interconnected systems. In the presence of parametric uncertainty (time varying or unknown), the decentralized adaptive algorithm to compensate for parametric variations was investigated and the robust variable structure control laws for each vehicle in the platoon were designed.
The lateral control for lane keeping in AHS was studied. Applying the look-ahead scheme and vehicle lateral dynamic mode, the vehicle lateral dynamics about the lateral displacement error and yaw angle error at the look-ahead distance were modeled. Assuming the data of the lateral offset from the centerline of the lane and the angle between the tangent to the road and the vehicle orientation at the look-ahead distance can be measured with on-board sensors, applying terminal sliding mode and finite time sliding mode reaching law, the variable structure control law for lane keeping was designed taking the steering angle as the control input. In the presence of parametric uncertainty, the robust variable structure control laws were designed, the adaptive algorithm to compensate for parametric variations was investigated by the Lyapunov function method.
The lateral control for lane changing in AHS was studied. Applying trapezoidal acceleration trajectory, considering the curvature varying from starting lane to target lane, a virtual trajectory for lane changing on curved road was presented. Applying the predetermined trajectory, the desired yaw angle and yaw rate for lane changing were generated. Assuming that the information on yaw rate of vehicle can be measured with on-board sensors, based on the lateral dynamical model of vehicle, by the finite time sliding mode reaching law, the lane changing variable structure control law was designed. The lateral velocity was estimated by the Lyapunov function method.
The coupled longitudinal and lateral control in AHS was studied. Based on coupled longitudinal and lateral model of vehicle in a platoon, by the design method of finite time sliding mode reaching law, the coupled control laws for vehicle following with lane keeping, and vehicle following with lane changing were designed, respectively. The stability of control systems was analyzed using Lyapunov function method.
The control for vehicle split from a platoon and join a platoon was studied based on inter-vehicle communication. The control algorithm for vehicle split from a platoon and join a platoon was designed by applying the longitudinal and lateral control laws for vehicle following, lane keeping and lane changing in AHS.
The simulation was done applying Matlab toolbox. Simulation results indicate that the longitudinal and lateral control performance was good by using the control laws designed for vehicle following, lane keeping, and lane changing in this dissertation. Simulations also verify the feasibility of the control algorithm for vehicle split from a platoon and join a platoon.
引文
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