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Networked Vehicle Merging by Cooperative Tracking Control

机译:通过合作跟踪控制的网络融合

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This paper solves the vehicle merging problem by trajectory tracking of networked vehicles to combine multiple vehicle streams. Trajectory tracking is achieved with distributed feed-forward controllers that consider the couplings between the vehicles by modifying the local reference trajectories. For this purpose, the controllers are connected via a communication network. Different communication strategies are discussed and it is shown that the proposed tracking controllers solve the merging problem with arbitrary linear vehicle models.
机译:本文通过联网车辆的轨迹跟踪来解决车辆合并问题以结合多个车辆流。通过修改本地参考轨迹,通过将车辆与车辆之间的联轴器进行轨迹跟踪来实现轨迹跟踪。为此目的,控制器通过通信网络连接。讨论了不同的通信策略,并显示了所提出的跟踪控制器解决了任意线性车辆模型的合并问题。

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