摘要
针对自动跟随车辆间信息传输存在无线网络量化误差的情况,研究了车辆跟随系统的纵向控制问题。假定每个跟随车辆能够通过无线网络获得相邻车辆及领头车辆的状态信息,并且信息在对数量化器传输下存在量化误差。基于车辆非线性纵向动力学耦合模型和车辆固定间隔跟随策略,应用向量Lyapunov函数方法得出的指数稳定性判据,将量化误差处理为系统状态的不确定性,给出补偿量化误差的滑模控制律,并设计满足系统群稳定性的控制器参数。仿真结果表明:相较于不考虑量化误差的控制器,本控制器能够显著提高车辆跟随误差的收敛速度,确保了自动车辆纵向跟随系统的稳定性。
The problem of longitudinal control of automatic vehicle following system via wireless communication network with quantization error of information transmission between vehicles is studied. Every following vehicle in platoon is supposed to get the information of the leading vehicle and the adjacent vehicles via wireless network, and the quantization error appears due to the transmission of the logarithmic quantizer. Based on the nonlinear longitudinal dynamically coupling model of string of vehicles and the strategy of constant headway following, applying an exponential stability criterion solved by vector Lyapunov function, the quantization errors are treated as the uncertainty of system state, the sliding model control law for compensating quantization errors is proposed, and the controller＇s parameters which ensure string stability are designed. The simulation result shows that compared with the controller whose quantization errors being not taken into account, this controller can obtain a higher convergence rate of vehicle following errors and the stability of the automatic vehicle longitudinal following system is guaranteed.
出处
《公路交通科技》
CAS
CSCD
北大核心
2014年第5期141-146,共6页
Journal of Highway and Transportation Research and Development
基金
国家自然科学基金项目(11172247)
2013年西南交通大学博士研究生创新基金项目
中央高校基本科研业务费专项资金项目
