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
相关论文
共 43 条
  • [41] The cross-coupling of lateral-longitudinal vehicle dynamics: Towards decentralized Fault-Tolerant Control Schemes
    Hernandez-Alcantara, Diana
    Amezquita-Brooks, Luis
    Morales-Menendez, Ruben
    Sename, Olivier
    Dugard, Luc
    MECHATRONICS, 2018, 50 : 377 - 393
  • [42] Combined longitudinal and lateral dynamics regulation of autonomous vehicles via induced ℒ2-gain linear parameter varying control strategies based on parameter-dependent Lyapunov functions
    Gagliardi, Gianfranco
    D'Angelo, Vincenzo
    Casavola, Alessandro
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2024, 34 (10) : 6914 - 6946
  • [43] Physics-informed deep reinforcement learning-based integrated two-dimensional car-following control strategy for connected automated vehicles
    Shi, Haotian
    Zhou, Yang
    Wu, Keshu
    Chen, Sikai
    Ran, Bin
    Nie, Qinghui
    KNOWLEDGE-BASED SYSTEMS, 2023, 269
12345