Robust cooperative adaptive cruise control of vehicles on banked and curved roads with sensor bias
2020
This paper considers cooperative adaptive cruise
control (CACC) for automated vehicles on banked and curved
roads. In such context, the existing longitudinal control alone
cannot guarantee robustly stable CACC, because the vehicle
longitudinal dynamics are coupled with the lateral dynamics.
This gives rise to the necessity of incorporating the lane keeping
(LK) control with CACC for the following vehicle to guarantee
lateral stability and adaptive cruise. A robustly independent
design strategy is proposed for determining a linear parameter
varying (LPV) LK controller and a constant gain CACC
controller. The influence of sensor bias and noise is also
considered and a linear time-varying generalized augmented
state observer (LTV-GASO) is developed to obtain optimal
state estimation of the CACC and LK systems. Designs of the
observers and controllers for CACC and LK systems follow
a similar scheme with an easily solved linear optimization
problem formulation. This facilitates the overall vehicle control
system design and implementation. Simulation of a platoon in
actual traffic environment illustrates efficacy of the proposed
designs in achieving robustly stable vehicle following and lateral
stability.
Keywords:
- Correction
- Source
- Cite
- Save
- Machine Reading By IdeaReader
0
References
1
Citations
NaN
KQI