Longitudinal and lateral control methods from single vehicle to autonomous platoon  

作　　者：Lei Song Jun Li Zichun Wei Kai Yang Ehsan Hashemi Hong Wang 

机构地区：[1]School of Vehicle and Mobility,Tsinghua University,Beijing,10081,China [2]Department of Industrialized System Engineering,The Hong Kong Polytechnic University,Hong Kong,China [3]College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing,400000,China [4]Department of Mechanical Engineering,University of Alberta,Edmonton,AB T6G 1H9,Canada

出　　处：《Green Energy and Intelligent Transportation》2023年第2期1-16,共16页新能源与智能载运（英文）

基　　金：The authors would like to appreciate the financial support of National Key R&D Program of China:2022YFB2503003 and 2020YFB1600303;the National Natural Science Foundation of China Project:U1964203,52221005 and 52072215.

摘　　要：To successfully implement the platoon control of connected and automated vehicles,it is necessary to address motion control issues to achieve longitudinal and lateral collaborative control.However,due to traffic capacity limitations and the complex traffic environment in which autonomous and human-driven vehicles coexist,autonomous platoon faces significant risks and challenges.This paper investigates longitudinal and lateral control issues from the perspective of a single vehicle up to a platoon,simulating the performance and suitability of various controllers.First,a longitudinal controller based on fuzzy logic and PID control is employed for speed tracking control of a single vehicle,followed by the adoption of an MPC controller based on the vehicle kinematics model to realize the lateral motion of a single vehicle.Second,the communication methods of the autonomous platoon are discussed,and the longitudinal controller that considers the platoon's various communication topologies is developed.Thirdly,a framework for robust integrated motion control is established,which combines the robust H-infinity longitudinal controller and the APF-based MPC lateral controller.Simulation results validate the effectiveness of the aforementioned controllers and reveal their limitations.

关 键 词：Longitudinal and lateral control Model predictive control Autonomous platooning H-INFINITY Motion control framework 

分 类 号：U49[交通运输工程—交通运输规划与管理]