Anti-disturbance and Anti-corner-cutting Control for Collaborative Path Tracking of Vehicle Platoon

被引：0
|
作者：
Bian Y. [1 ,2 ]
Zhang T. [1 ]
Xie H. [1 ,3 ]
Qin H. [1 ,2 ]
Yang Z. [1 ,2 ]
机构：
[1] College of Mechanical and Vehicle Engineering, Hunan University, State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Changsha
[2] Wuxi Intelligent Control Research Institute of Hunan University, Wuxi
[3] Xuzhou XCMG Mining Machinery Co. ，Ltd., Xuzhou
来源：
Qiche Gongcheng/Automotive Engineering | 2023年 / 45卷 / 08期
关键词：
anti-disturbance control; collaborative control; intelligent and connected vehicle; path tracking control;
D O I：
10.19562/j.chinasae.qcgc.2023.08.003
中图分类号：
学科分类号：
摘要：
The anti-disturbance and anti-corner-cutting collaborative path tracking control method for a vehicle platoon under the turning scenario is studied in this paper. Firstly, based on the predecessor-following topology scheme，a platoon turning anti-corner-cutting strategy is constructed by using circular-arc curve tracking path to replace the general straight-line tracking path, alleviating the overall tracking error of the vehicle platoon during turning. Secondly, a Kalman filter and a Luenberger observer are designed to address the problem of position noise and heading noise of the following vehicle or difficult measurement. Then, a collaborative path tracking controller is designed. By using the Lyapunov stability theory, sufficient conditions for system stability are derived for controller parameter design. Finally, the feasibility and effectiveness of the designed controller are validated through numerical simulation and real-vehicle experiments. © 2023 SAE-China. All rights reserved.
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页码：1320 / 1332
页数：12
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