基于Frenet框架的协同自适应巡航控制算法设计

doi:10.13229/j.cnki.jdxbgxb20210120

Abstract

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

CLC Number:

U461.1

Guang-ming NIE,Bo XIE,Yan-tao TIAN. Design of cooperative adaptive cruise control algorithm based on Frenet framework[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1687-1695.

Figures/Tables 9

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Parameters of simulation experiment"

纵向控制参数			横向控制参数
$λ 1$	$λ 2$	$α i$	$γ 1$	$γ 2$
1.5	0.9	2	9	1

Table 1

Fig.5

Fig.6

Fig.7

Table 2

Comparison of performance indexes"

工况	$v 0 / m ? s - 1$	$t s / s$	$d m a x / m$
换道	20	6.14	0.0026
换道	25	5.90	0.0026
双移线	20	6.14	0.0315

Table 2

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Design of cooperative adaptive cruise control algorithm based on Frenet framework

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