ROBUST OUTPUT FEEDBACK CONTROL FOR HETEROGENEOUS AUTONOMOUS VEHICLE PLATOONS

IF 0.8 4区工程技术 Q3 ENGINEERING, MULTIDISCIPLINARY

Dyna Pub Date : 2024-07-11 DOI:10.52152/d11088

Fernando Viadero Monasterio, Manuel JIMENEZ SALAS, Miguel MELENDEZ USEROS, María Jesús López Boada

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引用次数: 0

Abstract

An heterogeneous vehicle platoon controller for autonomous vehicles is proposed in this paper. The traction force of each vehicle is controlled according to the state of the predecessor vehicle, which can be known by LiDAR/RADAR, and the state of the leader vehicle, which is received by vehicle-to-vehicle (V2V) communication. Platoon string stability is evaluated under Lyapunov and H8 conditions. An iterative procedure is proposed in order to deal with the non-convexity of the static output feedback control design problem. Simulation results demonstrate that the proposed heterogeneous vehicle platoon controller achieves a good overall performance without compromising the safety of any vehicle. The separation between each follower and its predecessor is kept in appropriate ranges, always close to the desired reference. Furthermore, the transient errors are not amplificated when propagated downstream the platoon, therefore string stability is assured. Keywords: Autonomous vehicles, heterogeneous vehicle platoon, vehicle platoon control, string stability, output feedback control, robust control, Linear Matrix Inequality

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异构自主车辆排的鲁棒输出反馈控制

本文提出了一种用于自动驾驶车辆的异构车辆排控制器。每辆车的牵引力根据前一辆车的状态（可通过激光雷达/雷达得知）和领头车的状态（通过车对车（V2V）通信接收）进行控制。在 Lyapunov 和 H8 条件下对排串稳定性进行了评估。为了解决静态输出反馈控制设计问题的非凸性，提出了一种迭代程序。仿真结果表明，所提出的异构车辆排控制器实现了良好的整体性能，且不会影响任何车辆的安全性。每个跟随者与其前驱者之间的间隔保持在适当的范围内，始终接近所需的参考值。此外，瞬态误差在排的下游传播时不会被放大，因此保证了串的稳定性：自主车辆、异构车辆排、车辆排控制、串稳定性、输出反馈控制、鲁棒控制、线性矩阵不等式

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Dyna 工程技术-工程：综合

CiteScore

1.00

自引率

10.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： Founded in 1926, DYNA is one of the journal of general engineering most influential and prestigious in the world, as it recognizes Clarivate Analytics. Included in Science Citation Index Expanded, its impact factor is published every year in Journal Citations Reports (JCR). It is the Official Body for Science and Technology of the Spanish Federation of Regional Associations of Engineers (FAIIE). Scientific journal agreed with AEIM (Spanish Association of Mechanical Engineering) In character Scientific-technical, it is the most appropriate way for communication between Multidisciplinary Engineers and for expressing their ideas and experience. DYNA publishes 6 issues per year: January, March, May, July, September and November.