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 50 条
  • [31] VEHICLE-FOLLOWER LONGITUDINAL CONTROL FOR AUTOMATED TRANSIT VEHICLES
    CAUDILL, RJ
    GARRARD, WL
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1977, 99 (04): : 241 - 248
  • [32] Motion Planning for Autonomous Vehicles Considering Longitudinal and Lateral Dynamics Coupling
    Dang, Dongfang
    Gao, Feng
    Hu, Qiuxia
    APPLIED SCIENCES-BASEL, 2020, 10 (09):
  • [33] Backstepping control synthesis for both longitudinal and lateral automated vehicle
    Chaibet, A
    Nouvelière, L
    Mammar, S
    Netto, M
    Labayrade, R
    2005 IEEE INTELLIGENT VEHICLES SYMPOSIUM PROCEEDINGS, 2005, : 42 - 47
  • [34] A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
    Wang, Ziran
    Bian, Yougang
    Shladover, Steven E.
    Wu, Guoyuan
    Li, Shengbo Eben
    Barth, Matthew J.
    IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE, 2020, 12 (01) : 4 - 24
  • [35] Study on coordinated longitudinal and lateral control of intelligent vehicles using backstepping variable control
    Hu, Ping
    Guo, Jing-Hua
    Li, Lin-Hui
    Wang, Rong-Ben
    Dianji yu Kongzhi Xuebao/Electric Machines and Control, 2011, 15 (10): : 88 - 94
  • [36] Coordinated motion control for automated vehicles considering steering and driving force saturations
    Xia, Hongyang
    Chen, Jiqing
    Liu, Zhaolin
    Lan, Fengchong
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2020, 42 (01) : 157 - 166
  • [37] Hierarchical Control of Connected Vehicle Platoon by Simultaneously Considering the Vehicle Kinematics and Dynamics
    Zhu, Yongxin
    Li, Yongfu
    Jiao, Ao
    Huang, Longwang
    Huang, Gang
    Hua, Wei
    He, Defeng
    Li, Shengbo Eben
    Gao, Xinbo
    IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2024, 9 (01): : 1333 - 1345
  • [38] Hybrid modeling and predictive control of intelligent vehicle longitudinal velocity considering nonlinear tire dynamics
    Sun, Xiaoqiang
    Zhang, Houzhong
    Cai, Yingfeng
    Wang, Shaohua
    Chen, Long
    NONLINEAR DYNAMICS, 2019, 97 (02) : 1051 - 1066
  • [39] Hybrid modeling and predictive control of intelligent vehicle longitudinal velocity considering nonlinear tire dynamics
    Xiaoqiang Sun
    Houzhong Zhang
    Yingfeng Cai
    Shaohua Wang
    Long Chen
    Nonlinear Dynamics, 2019, 97 : 1051 - 1066
  • [40] Coordinated Control of Longitudinal/Lateral/Vertical Tire Forces for Distributed Electric Vehicles
    Luo, Yugong
    Cao, Kun
    Li, Keqiang
    2014 AMERICAN CONTROL CONFERENCE (ACC), 2014, : 3905 - 3910
12345