{"title":"具有无碰撞特征的自动驾驶汽车非保守鲁棒路径跟踪控制:一种子多面体集成方法","authors":"Liqin Zhang;Manjiang Hu;Yougang Bian;Hui Zhang;Anh-Tu Nguyen","doi":"10.1109/TITS.2025.3554157","DOIUrl":null,"url":null,"abstract":"This paper proposes a novel sub-polytope integrated approach (sPIA) that features an intrinsic bump-free transition, aiming to reduce conservatism in the design of path tracking control for autonomous vehicles with large range time-varying longitudinal velocity. The approach encapsulates the interdependent time-varying parameters associated with longitudinal velocity as a set of finite-vertex sub-polytopes interconnected via junction points, thereby reducing the conservatism induced by modeling overbounding. The integration of junction points and the formulation of sub-region activation rules provide a theoretical foundation for avoiding abrupt changes in feedback gains, ensuring a bump-free transition between sub-regions. A gain-scheduling state feedback controller is designed, employing parameter-dependent Lyapunov functions to further attenuate design conservatism. The effectiveness of the proposed method in reducing design conservatism is demonstrated by a comparative analysis of the optimal <inline-formula> <tex-math>${\\mathcal {H}}_{\\infty }$ </tex-math></inline-formula> performance indices across various sub-polytope integration schemes. Furthermore, the superiority of the method is exemplified via simulations within real-world driving scenarios, utilizing the high-fidelity CarSim-Simulink platform. The results indicate that the proposed sPIA outperforms traditional polytopic methods in path tracking performance. This improvement, together with the effective avoidance of bumps during sub-regional transitions, confirms the efficacy of the proposed approach. Moreover, the real-time performance of the method is verified by hardware-in-the-loop experiments.","PeriodicalId":13416,"journal":{"name":"IEEE Transactions on Intelligent Transportation Systems","volume":"26 7","pages":"10428-10442"},"PeriodicalIF":8.4000,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Less-Conservative Robust Path Tracking Control With Intrinsic Bump-Free Feature for Autonomous Vehicles: A Sub-Polytope Integrated Approach\",\"authors\":\"Liqin Zhang;Manjiang Hu;Yougang Bian;Hui Zhang;Anh-Tu Nguyen\",\"doi\":\"10.1109/TITS.2025.3554157\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a novel sub-polytope integrated approach (sPIA) that features an intrinsic bump-free transition, aiming to reduce conservatism in the design of path tracking control for autonomous vehicles with large range time-varying longitudinal velocity. The approach encapsulates the interdependent time-varying parameters associated with longitudinal velocity as a set of finite-vertex sub-polytopes interconnected via junction points, thereby reducing the conservatism induced by modeling overbounding. The integration of junction points and the formulation of sub-region activation rules provide a theoretical foundation for avoiding abrupt changes in feedback gains, ensuring a bump-free transition between sub-regions. A gain-scheduling state feedback controller is designed, employing parameter-dependent Lyapunov functions to further attenuate design conservatism. The effectiveness of the proposed method in reducing design conservatism is demonstrated by a comparative analysis of the optimal <inline-formula> <tex-math>${\\\\mathcal {H}}_{\\\\infty }$ </tex-math></inline-formula> performance indices across various sub-polytope integration schemes. Furthermore, the superiority of the method is exemplified via simulations within real-world driving scenarios, utilizing the high-fidelity CarSim-Simulink platform. The results indicate that the proposed sPIA outperforms traditional polytopic methods in path tracking performance. This improvement, together with the effective avoidance of bumps during sub-regional transitions, confirms the efficacy of the proposed approach. Moreover, the real-time performance of the method is verified by hardware-in-the-loop experiments.\",\"PeriodicalId\":13416,\"journal\":{\"name\":\"IEEE Transactions on Intelligent Transportation Systems\",\"volume\":\"26 7\",\"pages\":\"10428-10442\"},\"PeriodicalIF\":8.4000,\"publicationDate\":\"2025-04-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Intelligent Transportation Systems\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10965938/\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, CIVIL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Intelligent Transportation Systems","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10965938/","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, CIVIL","Score":null,"Total":0}
Less-Conservative Robust Path Tracking Control With Intrinsic Bump-Free Feature for Autonomous Vehicles: A Sub-Polytope Integrated Approach
This paper proposes a novel sub-polytope integrated approach (sPIA) that features an intrinsic bump-free transition, aiming to reduce conservatism in the design of path tracking control for autonomous vehicles with large range time-varying longitudinal velocity. The approach encapsulates the interdependent time-varying parameters associated with longitudinal velocity as a set of finite-vertex sub-polytopes interconnected via junction points, thereby reducing the conservatism induced by modeling overbounding. The integration of junction points and the formulation of sub-region activation rules provide a theoretical foundation for avoiding abrupt changes in feedback gains, ensuring a bump-free transition between sub-regions. A gain-scheduling state feedback controller is designed, employing parameter-dependent Lyapunov functions to further attenuate design conservatism. The effectiveness of the proposed method in reducing design conservatism is demonstrated by a comparative analysis of the optimal ${\mathcal {H}}_{\infty }$ performance indices across various sub-polytope integration schemes. Furthermore, the superiority of the method is exemplified via simulations within real-world driving scenarios, utilizing the high-fidelity CarSim-Simulink platform. The results indicate that the proposed sPIA outperforms traditional polytopic methods in path tracking performance. This improvement, together with the effective avoidance of bumps during sub-regional transitions, confirms the efficacy of the proposed approach. Moreover, the real-time performance of the method is verified by hardware-in-the-loop experiments.
期刊介绍:
The theoretical, experimental and operational aspects of electrical and electronics engineering and information technologies as applied to Intelligent Transportation Systems (ITS). Intelligent Transportation Systems are defined as those systems utilizing synergistic technologies and systems engineering concepts to develop and improve transportation systems of all kinds. The scope of this interdisciplinary activity includes the promotion, consolidation and coordination of ITS technical activities among IEEE entities, and providing a focus for cooperative activities, both internally and externally.