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针对车辆跟随系统中每辆车只能获得局部信息的情况,给出了一种控制器设计方法,并利用李雅普诺夫方法分析了系统的稳定性,给出了保证系统能够稳定运行的充分条件.为增强系统的可扩展性,在原有控制器基础上加入了速度限制,以避免系统位置偏差的逐级放大.在缩微交通环境下实现了5辆缩微车的车辆跟随系统,以验证控制方案的可行性.通过仿真和缩微车实验表明,运用所设计的控制方案,车辆跟随系统能够稳定行驶,避免了系统位置偏差的传播.
Aiming at the situation that every vehicle in the vehicle following system can only obtain the local information, a controller design method is given and the Lyapunov method is used to analyze the stability of the system. The sufficient conditions for the stable operation of the system are given In order to enhance the scalability of the system, the speed limit was added to the original controller to avoid the gradual enlargement of the position deviation of the system.A vehicle tracking system of five miniature vehicles was implemented in the miniature traffic environment to verify the control scheme Through simulation and microrelief vehicle experiments show that using the designed control scheme, vehicle following system can drive steadily and avoid the spread of system position deviation.