Wide speed-range following control for road autonomous vehicles

机译：道路自动驾驶车辆的宽速范围跟随控制

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This paper is to design an autonomous cruise control module for autonomous vehicle following to maintain steering smoothness and a desired intervehicle spacing from highway to nonhighway environments. We reasonably simplify the nonlinear kinematical module to linear time-varying module by combining optimal control on lateral side with classic correction control on longitudinal side. Computer simulations carried out to verify this method exerts better control effect in wide range of speed, shorter time response, higher precision and better stability.

机译：本文旨在为自动驾驶汽车设计一种自动巡航控制模块，以保持转向的平稳性以及从高速公路到非高速公路环境的理想车距。通过将侧面的最佳控制与纵向的经典校正控制相结合，可以合理地将非线性运动学模块简化为线性时变模块。通过计算机仿真验证了该方法在较宽的速度范围，更短的时间响应，更高的精度和更好的稳定性方面发挥了更好的控制效果。

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《2011 International Conference on Consumer Electronics, Communications and Networks》|2011年|p.4625-4629|共5页
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Liu Zilong; Chen Wenbo; Jiang Yanxia;
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正文语种
中图分类光电子技术的应用;
关键词
autonomous vehicle following; lateral control; longitudinal control; optimal control;

机译：自动驾驶跟随;侧向控制;纵向控制;最优控制;

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专利

1. Advanced control and stability of autonomous road vehicles: part II practical stability of road vehicles [J] . Miomir K. Vukobratovic, Aleksandar D. Rodic International Journal of Computer Applications in Technology . 2002,第6期

机译：自动驾驶汽车的先进控制和稳定性：第二部分公路汽车的实用稳定性
2. Autonomous vehicles: "the bigger picture": Paul Godsmark gives his views on what the advent of autonomous vehicles would mean for the wider society [J] . Paul Godsmark ITS International: Advanced Technology for Traffic Management and Urban Mobility . 2013,第3期

机译：自动驾驶汽车：“大局”：保罗·戈德马克（Paul Godsmark）就自动驾驶汽车的出现对整个社会意味着什么发表了自己的看法。
3. Advanced control and stability of autonomous road vehicles: part 1 synthesis of a hybrid neuro-dynamic controller [J] . Aleksandar D. Rodic, Miomir K. Vukobratovic International Journal of Computer Applications in Technology . 2002,第6期

机译：自动驾驶汽车的高级控制和稳定性：混合动力神经动力控制器的第1部分综合
4. Wide speed-range following control for road autonomous vehicles [C] . Liu Zilong, Chen Wenbo, Jiang Yanxia International Conference on Consumer Electronics, Communications and Networks . 2011

机译：道路自治车辆控制后宽速度范围
5. Autonomous control and automotive simulator based driver training methodologies for vehicle run-off-road and recovery events. [D] . Freeman, Paul T. 2014

机译：基于自主控制和汽车模拟器的驾驶员培训方法，用于车辆越野和恢复事件。
6. A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework [O] . Rodrigo Gutiérrez, Elena López-Guillén, Luis M. Bergasa, 2020

机译：使用ROS框架的自主公路车辆的航路点跟踪控制器
7. A Hierarchical Model Predictive Control Framework for On-road Formation Control of Autonomous Vehicles [O] . Qian Xiangjun, De La Fortelle Arnaud, Moutarde Fabien 2016

机译：自主车辆道路编队控制的层次模型预测控制框架

Wide speed-range following control for road autonomous vehicles

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