Coordinated Lateral and Longitudinal Vehicle-Following Control of Connected and Automated Vehicles Considering Nonlinear Dynamics

被引：15
|
作者：
Wang, Yulei [1 ]
Bian, Ning [2 ]
Zhang, Lin [3 ]
Chen, Hong [3 ]
机构：
[1] Jilin Univ, Dept Control Sci & Engn, Changchun 130022, Peoples R China
[2] Dongfeng Motor Corp, Dongfeng Tech Ctr, Wuhan 430056, Peoples R China
[3] Tongji Univ, Clean Energy Automot Engn Ctr, Shanghai 201804, Peoples R China
来源：
IEEE CONTROL SYSTEMS LETTERS | 2020年 / 4卷 / 04期
基金：
中国博士后科学基金;
关键词：
Vehicle dynamics; Tires; Mathematical model; Vehicular ad hoc networks; Stability analysis; Roads; Kinematics; Connected and automated vehicles (CAVs); car-following control; coordinated lateral and longitudinal control; nonlinear dynamics; Lyapunov; OF-THE-ART; GROUND VEHICLES; TRACKING; PATH;
D O I：
10.1109/LCSYS.2020.2997994
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, the problem of coordinated lateral and longitudinal vehicle-following control for connected and automated vehicles (CAVs) is investigated by considering nonlinear dynamics. Based on a nonlinear model of longitudinal and lateral vehicle dynamics and vehicle-to-vehicle (V2V) communication, we propose a triple-step nonlinear control law for a CAV to follow the trajectory of preceding vehicle. The stability regarding the time gap spacing and velocity errors is discussed via Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control for curved lanes.
引用
收藏
页码：1054 / 1059
页数：6
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