有限预瞄下自主网联车辆车队的鲁棒横向控制
Robust Lateral Control of a Convoy of Autonomous & Connected Vehicles with Limited Preview
AI总结：
针对自主网联车辆车队紧急换道的横向控制需求，提出基于车车互联构建复合预瞄轨迹的控制方案，验证了多场景下的横向字符串稳定性与控制有效性。
摘要：
本文研究自主网联车辆（ACVs）车队在紧急换道（ELC） maneuver 过程中的横向控制问题。这类机动是响应车队前方或后方的紧急信号而启动的，用于满足避障或为其他车辆让行的需求。本研究的主要目标是基于可用信息开发ACV的横向控制方案。本研究的基础假设是ACV之间存在可靠的连接，其中每辆后续ACV都能获取车队中领航车辆和紧邻前车的GPS位置轨迹信息。这种连接有助于构建融合了上述信息的复合ELC轨迹，作为待跟踪轨迹的“离散化”预瞄。研究步骤包括构建该复合轨迹，确定相对于该轨迹的横向误差、航向误差和横摆角速度误差，随后制定横向控制策略。此外，本文还给出了ACV车队在多种场景下的横向字符串稳定性研究结果，涵盖纵向速度变化以及领航车辆信息不可用的场景。数值仿真和实验结果验证了所提出的ACV车队横向控制方案的有效性。
英文摘要：
This paper addresses the lateral control of Autonomous & Connected Vehicles (ACVs) convoys during Emergency Lane Change (ELC) maneuvers. These maneuvers are initiated in response to emergency cues from either the front or rear of the convoy, responding to the need to avoid obstacles or facilitate the passage of other vehicles. The primary objective of this study is to develop a lateral control scheme for ACVs based on the available information. The foundational assumption in this study is the existence of reliable connectivity among ACVs, wherein each subsequent ACV possesses information concerning the GPS position traces of both the lead and immediately preceding vehicles within the convoy. This connectivity facilitates the construction of a composite ELC trajectory that synthesizes this information, serving as a "discretized" preview of the trajectory to be tracked. The procedural steps include constructing this composite trajectory, determining cross-track error, heading, and yaw rate errors relative to it, and subsequently formulating a lateral control strategy. Furthermore, the paper presents findings on the lateral string stability of ACV convoys across various scenarios, encompassing changes in longitudinal velocity and scenarios where lead vehicle information is unavailable. Numerical and experimental results validate the efficacy of the proposed lateral control scheme for ACV convoys.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
