{"title":"崎岖道路上互联车辆和自动驾驶车辆的规定时间合作控制","authors":"Qian Zhang;Ge Guo","doi":"10.1109/TVT.2024.3454969","DOIUrl":null,"url":null,"abstract":"This paper addresses a prescribed-time lateral and longitudinal cooperative formation control problem of connected and autonomous vehicles on rough roads with limited communication range. To deal with the impact of road disturbance in a prescribed time, a sliding mode observer with nested adaptation laws is designed based on relaxed assumptions of the road disturbance. Then, by introducing model transformation and backstepping control, a distributed prescribed-time cooperative formation control method is developed, which can achieve multiple driving maneuvers like lane changing and platooning with communication connectivity preservation. Numerical simulations verify the effectiveness of the presented control method.","PeriodicalId":13421,"journal":{"name":"IEEE Transactions on Vehicular Technology","volume":"74 1","pages":"140-151"},"PeriodicalIF":7.5000,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Prescribed-Time Cooperative Control of Connected and Autonomous Vehicles on Rough Roads\",\"authors\":\"Qian Zhang;Ge Guo\",\"doi\":\"10.1109/TVT.2024.3454969\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses a prescribed-time lateral and longitudinal cooperative formation control problem of connected and autonomous vehicles on rough roads with limited communication range. To deal with the impact of road disturbance in a prescribed time, a sliding mode observer with nested adaptation laws is designed based on relaxed assumptions of the road disturbance. Then, by introducing model transformation and backstepping control, a distributed prescribed-time cooperative formation control method is developed, which can achieve multiple driving maneuvers like lane changing and platooning with communication connectivity preservation. Numerical simulations verify the effectiveness of the presented control method.\",\"PeriodicalId\":13421,\"journal\":{\"name\":\"IEEE Transactions on Vehicular Technology\",\"volume\":\"74 1\",\"pages\":\"140-151\"},\"PeriodicalIF\":7.5000,\"publicationDate\":\"2024-09-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Vehicular Technology\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10666278/\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Vehicular Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10666278/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
Prescribed-Time Cooperative Control of Connected and Autonomous Vehicles on Rough Roads
This paper addresses a prescribed-time lateral and longitudinal cooperative formation control problem of connected and autonomous vehicles on rough roads with limited communication range. To deal with the impact of road disturbance in a prescribed time, a sliding mode observer with nested adaptation laws is designed based on relaxed assumptions of the road disturbance. Then, by introducing model transformation and backstepping control, a distributed prescribed-time cooperative formation control method is developed, which can achieve multiple driving maneuvers like lane changing and platooning with communication connectivity preservation. Numerical simulations verify the effectiveness of the presented control method.
期刊介绍：
The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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