控制工程
控製工程
공제공정
Control Engineering of China
2015年
5期
804-808
,共5页
车辆编队%参考车辆%路径跟踪%控制器设计
車輛編隊%參攷車輛%路徑跟蹤%控製器設計
차량편대%삼고차량%로경근종%공제기설계
Vehicle formation%formation reference vehicle%path following%controller design
针对多车辆协同路径跟踪控制问题，基于车辆运动学模型提出一种简单有效的直接车辆速度控制方法。首先根据车辆运动学模型和给定队形及其几何中心基线路径参数，确定参考路径及虚拟车辆速度，据此给出跟踪车辆协同路径跟踪控制器设计方法。这种协作路径跟踪控制方法可在车联网环境下以最少通信量实现多车辆协作控制，仿真实验证明了该方法的有效性。
針對多車輛協同路徑跟蹤控製問題，基于車輛運動學模型提齣一種簡單有效的直接車輛速度控製方法。首先根據車輛運動學模型和給定隊形及其幾何中心基線路徑參數，確定參攷路徑及虛擬車輛速度，據此給齣跟蹤車輛協同路徑跟蹤控製器設計方法。這種協作路徑跟蹤控製方法可在車聯網環境下以最少通信量實現多車輛協作控製，倣真實驗證明瞭該方法的有效性。
침대다차량협동로경근종공제문제，기우차량운동학모형제출일충간단유효적직접차량속도공제방법。수선근거차량운동학모형화급정대형급기궤하중심기선로경삼수，학정삼고로경급허의차량속도，거차급출근종차량협동로경근종공제기설계방법。저충협작로경근종공제방법가재차련망배경하이최소통신량실현다차량협작공제，방진실험증명료해방법적유효성。
This paper presents a simple and direct but effective vehicle speed control method based on vehicle kinematics models for the problem of coordinated path following of multi-vehicle. According to the vehicle kinematics model and the given formation and baseline path parameters of the formation geometric center, the reference paths and virtual vehicle speed are determined. The coordinated path following controller design method of follower vehicles is shown. Using this coordinated path following control method, multi-vehicle coordinated control is achieved in vehicular network environment with the least amount of communication. Simulation results prove the effectiveness of the proposed method.
