基于缩微智能车的车辆跟随控制系统  

Vehicle Following Control System Based on Micro Smart Car

作　　者：玄建永 陆耿[1] 王京春[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《信息与控制》2014年第2期165-170,共6页Information and Control

基　　金：清华大学科研基金资助项目(20111081071)

摘　　要：针对车辆跟随系统中每辆车只能获得局部信息的情况,给出了一种控制器设计方法,并利用李雅普诺夫方法分析了系统的稳定性,给出了保证系统能够稳定运行的充分条件.为增强系统的可扩展性,在原有控制器基础上加入了速度限制,以避免系统位置偏差的逐级放大.在缩微交通环境下实现了5辆缩微车的车辆跟随系统,以验证控制方案的可行性.通过仿真和缩微车实验表明,运用所设计的控制方案,车辆跟随系统能够稳定行驶,避免了系统位置偏差的传播.A vehicle following control method is proposed under the condition that every element in the system could only get relative local information.Lyapunov theorem is used to analyze the stability of this system and a sufficient condition of stability is given.Furthermore,in order to increase the scalability of the vehicle following system,speed constraint is added in the proposed control method.A micro vehicle following system including five micro smart cars is built in the micro traffic environment to verify the control method.The simulation and experiment results indicate that vehicle following system can move stably and position disturbance propagation can be avoided.

关 键 词：车辆跟随控制 缩微智能车 缩微交通环境 李亚普诺夫稳定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]