Improved Protocols and Stability Analysis for Multivehicle Cooperative Autonomous Systems
Improved Protocols and Stability Analysis for Multivehicle Cooperative Autonomous Systems
复制标题
多车辆协作自主系统的改进协议和稳定性分析
DOI：
10.1109/tits.2015.2427198
复制
发表时间：
2015-05
影响因子：
8.5
通讯作者：
Xu, Bugong
中科院分区：
文献类型：
--
作者：
Liu, Yonggui;Xu, Bugong
随着车辆的日益增长，交通拥堵和安全问题值得更密切地关注。协同自主驾驶是缓解交通拥堵、保障交通安全的有效解决方案。本文考虑的是多车协同自主控制，实现共享道路，互不串通。车道跟随和制动控制是协同驾驶的两个基本操作。车道跟随的目标是使中间车辆保持安全的间距，并在车道的中间位置行驶。为了达到这一目标，本文提出了两种既考虑横向控制又考虑纵向控制的分布式控制协议。文中还对两种控制协议进行了稳定性分析。制动控制是自主协同控制的另一个基本操作。为了使车辆停在期望的目标停车位置(TSP)，设计了一种新的制动控制方案，并对其进行了收敛分析，证明了在三种不同的制动控制参数下，所有车辆的质心位置指数收敛到目标停车位置，所有车辆的质心速度指数收敛到零，为实际工程应用中制动控制参数的选择提供了指导。此外，还讨论了位置和速度的初始条件和极限条件。仿真结果表明，与已有方法相比，所提出的控制协议具有较好的有效性和优越性。
With increasing growth of vehicles, traffic congestion and safety deserve to be looked at more closely. Cooperative autonomous driving is an effective solution to reduce traffic congestion and ensure traffic safety. In this paper, cooperative autonomous control of multiple vehicles is considered to realize sharing the same roads without collusion with each other. Lane-following and braking control are two basic operations of cooperative driving. The objectives of lane-following are to make inter vehicles keep a safe spacing and run on the middle position of a lane. To reach the targets, two distributed control protocols are proposed in which we consider not only lateral control but also longitudinal control. The stability analysis is also shown for both the control protocols. Braking control is another basic operation for autonomous cooperative control. In order to make vehicles stop at the desired target stopping position (TSP), a new braking control protocol is also designed, and the convergence of which is analyzed and shown that, under three kinds of distinct braking control parameters, the position of the mass center of all vehicles exponentially converges to the TSP, and the velocity of the mass center of all vehicles exponentially converges to zero, which provide a guide for selecting the braking control parameters in real engineering applications. Moreover, the initial and limit conditions of position and velocity are discussed. Simulations demonstrate the validity and superiority of the proposed control protocols compared with existing approaches.
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DOI：
10.1109/tits.2013.2278494
发表时间：
2014-02-01
影响因子：
8.5
作者：
Milanes, Vicente;Shladover, Steven E.;Nakamura, Masahide
通讯作者：
Nakamura, Masahide
影响因子：
6.8
作者：
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DOI：
10.1016/j.sysconle.2004.09.006
发表时间：
2005-05
期刊：
Syst. Control. Lett.
影响因子：
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作者：
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通讯作者：
M. Seron;David J. Hill;Alexander L. Fradkov
影响因子：
6.8
作者：
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