基于时变间距和相对角度的无人车跟随控制方法研究  

A Control Method of Unmanned Car Following Under Time-varying Relative Distance and Angle

作　　者：李润梅[1] 张立威 王剑[1] LI Run-Mei;ZHANG Li-Wei;WANG Jian(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044)

机构地区：[1]北京交通大学电子信息工程学院,北京100044

出　　处：《自动化学报》2018年第11期2031-2040,共10页Acta Automatica Sinica

摘　　要：本文考虑实际道路上的车辆跟随运行模式,研究了无人车以时变的相对距离和相对角度跟随行驶的控制问题.本文首先采用领航跟随模式建立了领航车与跟随车之间的误差模型,将无人车之间的相对距离和相对角度作为时变量输入.接着使用反馈控制法设计了跟随车速度控制器和角速度控制器.用李雅普诺夫方法证明了控制器的稳定性,用Barbalat引理从理论上证明了跟踪误差渐近收敛.最后用Matlab/Simulink对无人车的跟随控制进行仿真,仿真结果表明在无人车之间的相对距离和相对角度是时变量的条件下,跟随车可以很好地沿着领航车的前进轨迹跟随行驶.This paper presents an unmanned car following control method using time-varying relative distance and relative angle in vehicle following operation mode on actual road. Firstly, an error model between leading car and following car in the leader-follower mode is established with the relative distance and angle between unmanned cars being the input as time variables. Secondly, a feedback control method is used to design follower s speed controller and angular velocity controller. The stability of the designed controller is theoretically proved by using the Lyapunov method, and asympotic convergence of tracking errors is proved by using the Barbalat lemma as well. Finally, under the condition of expected time-varying relative distance and angle, simulation on a following control of two unmanned cars following travel is performed by Matlab/Simulink. The result shows that the following car can travel along the leading car s trajectory well.

关 键 词：无人车跟随控制 领航跟随模式 时变相对距离 时变相对角度 反馈控制法 

分 类 号：U463.6[机械工程—车辆工程]