排
控制器(灌溉)
控制理论(社会学)
控制工程
PID控制器
控制(管理)
运动学
模型预测控制
运动控制
计算机科学
控制系统
工程类
机器人
人工智能
温度控制
物理
经典力学
农学
生物
电气工程
作者
Lei Song,Jun Li,Zichun Wei,Kai Yang,Ehsan Hashemi,Hong Wang
标识
DOI:10.1016/j.geits.2023.100066
摘要
To successfully implement the platoon control of connected and automated vehicles, it is necessary to address motion control issues to achieve longitudinal and lateral collaborative control. However, due to traffic capacity limitations and the complex traffic environment in which autonomous and human-driven vehicles coexist, autonomous platoon faces significant risks and challenges. This paper investigates longitudinal and lateral control issues from the perspective of a single vehicle up to a platoon, simulating the performance and suitability of various controllers. First, a longitudinal controller based on fuzzy logic and PID control is employed for speed tracking control of a single vehicle, followed by the adoption of an MPC controller based on the vehicle kinematics model to realize the lateral motion of a single vehicle. Second, the communication methods of the autonomous platoon are discussed, and the longitudinal controller that considers the platoon's various communication topologies is developed. Thirdly, a framework for robust integrated motion control is established, which combines the robust H-infinity longitudinal controller and the APF-based MPC lateral controller. Simulation results validate the effectiveness of the aforementioned controllers and reveal their limitations.
科研通智能强力驱动
Strongly Powered by AbleSci AI