WFRF:(Cui Shaohua)
Sökning: WFRF:(Cui Shaohua) > (2023) > Adaptive Collision-...
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| Fältnamn | Indikatorer | Metadata |
|---|---|---|
| 000 | 03393naa a2200457 4500 | |
| 001 | oai:research.chalmers.se:48264150-df53-4872-aae8-8c0e1c23afed | |
| 003 | SwePub | |
| 008 | 230716s2023 | |||||||||||000 ||eng| | |
| 024 | 7 | a https://research.chalmers.se/publication/5366092 URI |
| 024 | 7 | a https://doi.org/10.1109/TITS.2023.32865872 DOI |
| 040 | a (SwePub)cth | |
| 041 | a engb eng | |
| 042 | 9 SwePub | |
| 072 | 7 | a art2 swepub-publicationtype |
| 072 | 7 | a ref2 swepub-contenttype |
| 100 | 1 | a Cui, Shaohuau Beihang University4 aut |
| 245 | 1 0 | a Adaptive Collision-Free Trajectory Tracking Control for String Stable Bidirectional Platoons |
| 264 | 1 | c 2023 |
| 520 | a Autonomous vehicle (AV) platoons, especially those with the bidirectional communication topology, have significant practical value, as they not only increase link capacity and reduce vehicle energy consumption, but also reduce the consumption of communication resources. Small gaps between AVs in a platoon easily lead to emergency braking or even collisions between consecutive AVs. This paper applies barrier Lyapunov functions to collision avoidance between AVs in a bidirectional platoon during trajectory tracking. Based on backstepping technique, an adaptive collision-free platoon trajectory tracking control algorithm is developed to distributedly design control laws for each AV in the platoon. The control algorithm does not need to introduce additional car-following models to simulate AV driving, and only needs to integrate the position trajectories of consecutive AVs to avoid inter-vehicle collisions. Two sign functions are introduced into the control laws of each AV to ensure strong string stability for bidirectional AV platoons. Moreover, uncertainties and external disturbances in vehicle motion are effectively compensated by introducing adaptation laws. Strong string stability is rigorously proved. CarSIM-based comparison simulations verify the effectiveness of the proposed control algorithm in avoiding inter-vehicle collisions, compensating for uncertainties in vehicle motion, and suppressing the amplification of spacing errors along the platoon. | |
| 650 | 7 | a TEKNIK OCH TEKNOLOGIERx Elektroteknik och elektronikx Reglerteknik0 (SwePub)202022 hsv//swe |
| 650 | 7 | a ENGINEERING AND TECHNOLOGYx Electrical Engineering, Electronic Engineering, Information Engineeringx Control Engineering0 (SwePub)202022 hsv//eng |
| 653 | a Stability criteria | |
| 653 | a Topology | |
| 653 | a Trajectory | |
| 653 | a string stability | |
| 653 | a Uncertainty | |
| 653 | a Bidirectional platoons | |
| 653 | a Collision avoidance | |
| 653 | a trajectory tracking | |
| 653 | a Trajectory tracking | |
| 653 | a collision avoidance | |
| 653 | a Adaptation models | |
| 653 | a autonomous vehicles | |
| 700 | 1 | a Xue, Yongjieu Beihang University4 aut |
| 700 | 1 | a Gao, Kun,d 1993u Chalmers tekniska högskola,Chalmers University of Technology4 aut0 (Swepub:cth)gkun |
| 700 | 1 | a Lv, Maolong4 aut |
| 700 | 1 | a Yu, Binu Beihang University4 aut |
| 710 | 2 | a Beihang Universityb Chalmers tekniska högskola4 org |
| 773 | 0 | t IEEE Transactions on Intelligent Transportation Systemsg 24:11, s. 12141-12153q 24:11<12141-12153x 1524-9050x 1558-0016 |
| 856 | 4 8 | u https://research.chalmers.se/publication/536609 |
| 856 | 4 8 | u https://doi.org/10.1109/TITS.2023.3286587 |
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- Cui, Shaohua
- Xue, Yongjie
- Gao, Kun, 1993
- Lv, Maolong
- Yu, Bin
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