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基于时变间距和相对角度的无人车跟随控制方法研究

李润梅 张立威 王剑

李润梅, 张立威, 王剑. 基于时变间距和相对角度的无人车跟随控制方法研究. 自动化学报, 2018, 44(11): 2031-2040. doi: 10.16383/j.aas.2018.c170106
引用本文: 李润梅, 张立威, 王剑. 基于时变间距和相对角度的无人车跟随控制方法研究. 自动化学报, 2018, 44(11): 2031-2040. doi: 10.16383/j.aas.2018.c170106
LI Run-Mei, ZHANG Li-Wei, WANG Jian. A Control Method of Unmanned Car Following Under Time-varying Relative Distance and Angle. ACTA AUTOMATICA SINICA, 2018, 44(11): 2031-2040. doi: 10.16383/j.aas.2018.c170106
Citation: LI Run-Mei, ZHANG Li-Wei, WANG Jian. A Control Method of Unmanned Car Following Under Time-varying Relative Distance and Angle. ACTA AUTOMATICA SINICA, 2018, 44(11): 2031-2040. doi: 10.16383/j.aas.2018.c170106

基于时变间距和相对角度的无人车跟随控制方法研究

doi: 10.16383/j.aas.2018.c170106
详细信息
    作者简介:

    张立威  北京交通大学研究生.2011年于北京石油化工学院获得学士学位.主要研究方向为无人车编队系统控制和优化.E-mail:15120226@bjtu.edu.cn

    王剑  北京交通大学教授.2007年于北京交通大学获得博士学位.主要研究方向为列车运行控制及卫星导航在铁路领域的理论研究、技术创新.E-mail:jwang@bjtu.edu.cn

    通讯作者:

    李润梅  北京交通大学副教授.2005年于中国科学院自动化研究所获得博士学位.主要研究方向为智能车路协同系统, 无人车控制关键技术研究, 交通大数据处理与预测.本文通信作者.E-mail:rmli@bjtu.edu.cn

A Control Method of Unmanned Car Following Under Time-varying Relative Distance and Angle

More Information
    Author Bio:

     Graduate student at Beijing Jiaotong University. She received her bachelor degree in control technology and instrument from Beijing Institute of Petrochemical Technology in 2011. Her research interest covers control and optimization with application in driverless cars formation systems

     Professor at Beijing Jiaotong University. He received his Ph. D. degrees for Beijing Jiaotong University, Beijing, China, in 2007. His research interest covers communication based train control, theoretical research and technical innovation of satellite navigation in the railways

    Corresponding author: LI Run-Mei  Associate professor at Beijing Jiaotong University. She received her Ph. D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences in 2005. Her research interest covers intelligent vehicle road coordination system, key technologies of driverless cars and traffic big data processing and prediction. Corresponding author of this paper
  • 摘要: 本文考虑实际道路上的车辆跟随运行模式,研究了无人车以时变的相对距离和相对角度跟随行驶的控制问题.本文首先采用领航跟随模式建立了领航车与跟随车之间的误差模型,将无人车之间的相对距离和相对角度作为时变量输入.接着使用反馈控制法设计了跟随车速度控制器和角速度控制器.用李雅普诺夫方法证明了控制器的稳定性,用Barbalat引理从理论上证明了跟踪误差渐近收敛.最后用Matlab/Simulink对无人车的跟随控制进行仿真,仿真结果表明在无人车之间的相对距离和相对角度是时变量的条件下,跟随车可以很好地沿着领航车的前进轨迹跟随行驶.
    1)  本文责任编委 魏庆来
  • 图  1  无人车领航跟随结构

    Fig.  1  Leader-follower structure of unmanned cars

    图  2  时变期望相对角度简化示意图

    Fig.  2  Simplifled schematic of time-varying relative angle

    图  3  无人车跟随控制系统

    Fig.  3  Control system of unmanned cars following

    图  4  反馈控制器Simulink框图

    Fig.  4  Simulink diagram of feedback controller

    图  5  领航车行驶轨迹曲线

    Fig.  5  Travel trajectory curve of leader

    图  6  领航车的加速度

    Fig.  6  Leader0s acceleration

    图  7  领航车速度

    Fig.  7  Leader0s speed

    图  8  两车相对距离与领航车速度关系曲线

    Fig.  8  The relationship between relative distance between unmanned cars and the speed of the leader car

    图  9  领航车角速度

    Fig.  9  Angular velocity of leader

    图  10  期望相对角度

    Fig.  10  Expected relative angle

    图  11  两无人车的速度跟随曲线

    Fig.  11  Velocity following of two unmaned cars

    图  12  两无人车之间的三个误差

    Fig.  12  Three errors between two unmanned cars

    图  13  两无人车之间的行驶路径

    Fig.  13  Movement track of two unmanned cars

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  • 收稿日期:  2017-02-27
  • 录用日期:  2018-01-01
  • 刊出日期:  2018-11-20

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