Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario
Abstract This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-02-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12029 |
| _version_ | 1811266908044918784 |
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| author | Zhanyi Hu Zeyu Yang Jin Huang Zhihua Zhong |
| author_facet | Zhanyi Hu Zeyu Yang Jin Huang Zhihua Zhong |
| author_sort | Zhanyi Hu |
| collection | DOAJ |
| description | Abstract This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach and Lyapunov stability theory. Most of the studies on lane‐changing considered only the equality constraint, namely the desired inter‐vehicle distance. In a bilateral inequality constraint, the upper bound avoids unpredictable cut‐ins and the lower bound collisions. This research applies the constraint to guarantee a safe and efficient lane‐changing process. The original UK approach cannot handle bilateral inequalities. Therefore, a diffeomorphism method is proposed to transform the bounded state to an unbounded one. The latter enables the UK approach to deal with both equality and bilateral inequality constraints. The proposed controller can render each vehicle to adjust its distance with the predecessor without violating the prescribed bounds. Numerical experiments have been conducted to validate the effectiveness of the proposed controller under different traffic demands. |
| first_indexed | 2024-04-12T20:52:51Z |
| format | Article |
| id | doaj.art-b310fcb7824f40948fd184530098943a |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-04-12T20:52:51Z |
| publishDate | 2021-02-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-b310fcb7824f40948fd184530098943a2022-12-22T03:17:05ZengWileyIET Intelligent Transport Systems1751-956X1751-95782021-02-0115234435810.1049/itr2.12029Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenarioZhanyi Hu0Zeyu Yang1Jin Huang2Zhihua Zhong3School of Vehicle and Mobility Tsinghua University Beijing People's Republic of ChinaSchool of Vehicle and Mobility Tsinghua University Beijing People's Republic of ChinaSchool of Vehicle and Mobility Tsinghua University Beijing People's Republic of ChinaSchool of Vehicle and Mobility Tsinghua University Beijing People's Republic of ChinaAbstract This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach and Lyapunov stability theory. Most of the studies on lane‐changing considered only the equality constraint, namely the desired inter‐vehicle distance. In a bilateral inequality constraint, the upper bound avoids unpredictable cut‐ins and the lower bound collisions. This research applies the constraint to guarantee a safe and efficient lane‐changing process. The original UK approach cannot handle bilateral inequalities. Therefore, a diffeomorphism method is proposed to transform the bounded state to an unbounded one. The latter enables the UK approach to deal with both equality and bilateral inequality constraints. The proposed controller can render each vehicle to adjust its distance with the predecessor without violating the prescribed bounds. Numerical experiments have been conducted to validate the effectiveness of the proposed controller under different traffic demands.https://doi.org/10.1049/itr2.12029Spatial variables controlTraffic engineering computingAlgebraControl system analysis and synthesis methodsStability in control theorySelf‐adjusting control systems |
| spellingShingle | Zhanyi Hu Zeyu Yang Jin Huang Zhihua Zhong Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario IET Intelligent Transport Systems Spatial variables control Traffic engineering computing Algebra Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems |
| title | Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario |
| title_full | Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario |
| title_fullStr | Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario |
| title_full_unstemmed | Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario |
| title_short | Safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario |
| title_sort | safety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane changing scenario |
| topic | Spatial variables control Traffic engineering computing Algebra Control system analysis and synthesis methods Stability in control theory Self‐adjusting control systems |
| url | https://doi.org/10.1049/itr2.12029 |
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