Hierarchical lane-changing control for vehicle platoons in prescribed performance

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-10-09 DOI:10.1016/j.automatica.2024.111972

Wei-Wei Che , Lili Zhang , Chao Deng , Zheng-Guang Wu

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Abstract

This paper proposes a hierarchical control approach to solve the prescribed performance lane-changing control problem for nonlinear vehicle platoons. By incorporating the collision avoidance and comfort assurance conditions specifically tailored for vehicle platoons, the value range of the safe lane-changing completion time (LCCT) can be calculated. Based on which, the longitudinal and lateral reference displacements are determined for the leader vehicle, respectively. Further, to safely achieve the prescribed performance lane changing in the operational layer, a class of more practical performance functions is designed based on the calculated LCCT as the key technology for proposing the neural network longitudinal and lateral control protocols. The developed lane-changing control strategies guarantee that the vehicle platoon can track the obtained reference trajectory while avoiding inter-platoon and intra-platoon collisions. Furthermore, the safe lane-changing maneuver can be achieved within the predefined LCCT with the preset accuracy. Finally, the availability of the proposed hierarchical algorithm is checked through two simulation examples with comparisons.

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规定性能下车辆排的分层变道控制

本文提出了一种分层控制方法来解决非线性车辆排的规定性能变道控制问题。通过结合专为车辆编队定制的避免碰撞和舒适性保证条件，可以计算出安全变道完成时间（LCCT）的取值范围。在此基础上，分别确定领头车辆的纵向和横向参考位移。此外，为了在操作层安全地实现规定性能的变道，基于计算出的 LCCT 设计了一类更实用的性能函数，作为提出神经网络纵向和横向控制协议的关键技术。所开发的变道控制策略可保证车辆编队能够跟踪所获得的参考轨迹，同时避免编队间和编队内的碰撞。此外，还能在预定的 LCCT 范围内以预设精度实现安全变道机动。最后，通过两个仿真实例的对比，检验了所提出的分层算法的可用性。

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

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.