车联网环境下的车辆编队协作路径跟踪控制  

Coordinated Path Following Control of Vehicle Formations in Vehicular Network Environment

作　　者：俞志英[1] 郭戈[1] 

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《控制工程》2015年第5期804-808,共5页Control Engineering of China

基　　金：国家自然科学基金项目(61273107和61304192);大连市领军人才支持计划项目(2012Z0036);中央高校基本研究项目(3132013334)

摘　　要：针对多车辆协同路径跟踪控制问题,基于车辆运动学模型提出一种简单有效的直接车辆速度控制方法。首先根据车辆运动学模型和给定队形及其几何中心基线路径参数,确定参考路径及虚拟车辆速度,据此给出跟踪车辆协同路径跟踪控制器设计方法。这种协作路径跟踪控制方法可在车联网环境下以最少通信量实现多车辆协作控制,仿真实验证明了该方法的有效性。This paper presents a simple and direct but effective vehicle speed control method based on vehicle kinematics models for the problem of coordinated path following of multi-vehicle. According to the vehicle kinematics model and the given formation and baseline path parameters of the formation geometric center, the reference paths and virtual vehicle speed are determined. The coordinated path following controller design method of follower vehicles is shown. Using this coordinated path following control method, multi-vehicle coordinated control is achieved in vehicular network environment with the least amount of communication. Simulation results prove the effectiveness of the proposed method.

关 键 词：车辆编队 参考车辆 路径跟踪 控制器设计 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]