吉林大学学报(工学版) ›› 2022, Vol. 52 ›› Issue (7): 1687-1695.doi: 10.13229/j.cnki.jdxbgxb20210120

• 通信与控制工程 • 上一篇    

基于Frenet框架的协同自适应巡航控制算法设计

聂光明1(),谢波1,田彦涛1,2()   

  1. 1.吉林大学 通信工程学院，长春 130022
    2.吉林大学 工程仿生教育部重点实验室，长春 130022
  • 收稿日期:2021-02-20 出版日期:2022-07-01 发布日期:2022-08-08
  • 通讯作者: 田彦涛 E-mail:niegm18@mails.jlu.edu.cn;tianyt@jlu.edu.cn
  • 作者简介:聂光明（1994-），男，博士研究生.研究方向：控制理论与控制工程.E-mail：niegm18@mails.jlu.edu.cn
  • 基金资助:
    国家自然科学基金-区域创新发展联合基金项目(U19A2069)

Design of cooperative adaptive cruise control algorithm based on Frenet framework

Guang-ming NIE1(),Bo XIE1,Yan-tao TIAN1,2()   

  1. 1.College of Communication Engineering，Jilin University，Changchun 130022，China
    2.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，China
  • Received:2021-02-20 Online:2022-07-01 Published:2022-08-08
  • Contact: Yan-tao TIAN E-mail:niegm18@mails.jlu.edu.cn;tianyt@jlu.edu.cn

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摘要：

当前对协同自适应巡航控制算法的研究主要集中在单车道纵向方向上，对横向控制考虑的很少，但实际车辆运动过程中转弯以及换道等场景必不可少。为此，本文基于Frenet框架对车队中单个车辆的动力学模型在横向与纵向两个自由度进行解耦。针对车辆的纵向控制问题，通过满足指数收敛条件来保证被控车辆对临近前车和首车的跟踪性，并通过sigmoidal函数来平衡跟踪权重。针对车辆的横向控制问题，采用李雅普诺夫方法进行控制算法设计。仿真实验结果验证了本文控制算法的有效性。

关键词: 车辆工程, 协同自适应巡航控制, 轨迹跟踪, Frenet框架

Abstract:

At present， the research of cooperative adaptive cruise control algorithm mainly focuses on the longitudinal direction of single lane， and little consideration is given to the lateral control. However， the scenes like turning and lane changing are essential in actual driving process. Therefore， the dynamic model of a single vehicle in a platoon is decoupled in lateral and longitudinal directions based on Frenet framework in this paper. Aiming at the longitudinal control problem of the vehicle， the tracking performance of the controlled vehicle to its adjacent one and the leader is guaranteed by satisfying the exponential convergence condition， and the tracking weight is balanced by the sigmoidal function. As for the vehicle lateral control problem， the Lyapunov method is used to design the control algorithm. Finally， the effectiveness of the proposed control algorithm is verified by simulation experiments.

Key words: vehicle engineering, cooperative adaptive cruise control, trajectory tracking, Frenet framework

中图分类号: 

  • U461.1

图1

前轮转向车辆自行车模型"

图2

车队通信拓扑结构"

图3

换道轨迹示意图"

图4

车队期望行驶轨迹"

表1

仿真实验参数"

纵向控制参数横向控制参数
λ1λ2αiγ1γ2
1.50.9291

图5

换道场景仿真结果图（v0=20?m/s）"

图6

换道场景仿真结果图（v0=25?m/s）"

图7

双移线场景仿真结果图（v0=20?m/s）"

表2

性能指标对比"

工 况v0/m?s-1ts/sdmax/m
换 道206.140.0026
255.900.0026
双移线206.140.0315
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