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首页> 外文期刊>Intelligent Transportation Systems, IEEE Transactions on >Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking
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Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking

机译：自主车辆超车的建模与非线性自适应控制

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摘要

In this paper, we present a mathematical model and adaptive controller for an autonomous vehicle overtaking maneuver. We consider the problem of an autonomous three-phase overtaking without the use of any roadway marking scheme or intervehicle communication. The developed feedback controller requires information for the current relative intervehicle position and orientation, which are assumed to be available from onboard sensors. We apply standard robotic nomenclature for translational and rotational displacements and velocities and propose a general kinematic model of the vehicles and the relative intervehicle kinematics during the overtaking maneuver. The overtaking maneuver is investigated as a tracking problem with respect to desired polynomial virtual trajectories for every phase, which are generated in real time. An update control law for the automated overtaking vehicle is designed that allows tracking the desired trajectories in the presence of unknown velocity of the overtaken vehicle. Simulation results illustrate the performance of the proposed controller.
机译：在本文中，我们提出了一种用于自动驾驶汽车超车操纵的数学模型和自适应控制器。我们考虑了不使用任何道路标记方案或车辆间通信的自动三相超车的问题。开发的反馈控制器需要有关当前相对车辆位置和方向的信息，这些信息假定可从车载传感器获得。我们为平移和旋转位移和速度应用标准的机器人术语，并提出了超车操作期间车辆的一般运动学模型和相对的车辆运动学。将超车操作作为针对​​每个阶段所需的多项式虚拟轨迹的跟踪问题进行研究，这些轨迹是实时生成的。设计了用于自动超车的更新控制律，该更新律允许在超车的速度未知的情况下跟踪所需的轨迹。仿真结果说明了该控制器的性能。

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