scholarly journals Cooperative Lane-Change Maneuver for Multiple Automated Vehicles on a Highway

2019 ◽  
Vol 2 (3) ◽  
pp. 157-168 ◽  
Author(s):  
Yugong Luo ◽  
Gang Yang ◽  
Mingchang Xu ◽  
Zhaobo Qin ◽  
Keqiang Li
Keyword(s):  
Trajectory Planning ◽  
Control Method ◽  
Lane Change ◽  
Tracking Errors ◽  
Integrated Simulation ◽  
Lane Changes ◽  
V2v Communication ◽  
Multiple Vehicles ◽  
Single Vehicle ◽  
And Control

Abstract With the development of vehicle-to-vehicle (V2V) communication, it is possible to share information among multiple vehicles. However, the existing research on automated lane changes concentrates only on the single-vehicle lane change with self-detective information. Cooperative lane changes are still a new area with more complicated scenarios and can improve safety and lane-change efficiency. Therefore, a multi-vehicle cooperative automated lane-change maneuver based on V2V communication for scenarios of eight vehicles on three lanes was proposed. In these scenarios, same-direction and intersectant-direction cooperative lane changes were defined. The vehicle that made the cooperative decision obtained the information of surrounding vehicles that were used to cooperatively plan the trajectories, which was called cooperative trajectory planning. The cooperative safety spacing model was proposed to guarantee and improve the safety of all vehicles, and it essentially developed constraints for the trajectory-planning task. Trajectory planning was treated as an optimization problem with the objective of maximizing safety, comfort, and lane-change efficiency under the constraints of vehicle dynamics and the aforementioned safety spacing model. Trajectory tracking based on a model predictive control method was designed to minimize tracking errors and control increments. Finally, to verify the validity of the proposed maneuver, an integrated simulation platform combining MATLAB/Simulink with CarSim was established. Moreover, a hardware-in-the-loop test bench was performed for further verification. The results indicated that the proposed multi-vehicle cooperative automated lane-change maneuver can achieve lane changes of multiple vehicles and increase lane-change efficiency while guaranteeing safety and comfort.

Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion

1993 ◽  
Vol 115 (3) ◽  
pp. 447-455 ◽  
Author(s):  
Tai-Heng Chang ◽  
Yildirim Hurmuzlu
Keyword(s):  
Trajectory Planning ◽  
Planning Process ◽  
Control Method ◽  
Variable Structure ◽  
Bipedal Locomotion ◽  
Tracking Errors ◽  
Structure Control ◽  
Control Scheme ◽  
Lyapunov’S Second Method ◽  
Planning Problems

A new variable structure control law based on the Lyapunov’s second method that can be used in trajectory planning problems of robotic systems is developed. A modified approach to the formulation of the sliding domain equations in terms of tracking errors has been presented. This approach possesses three distinct advantages: (i) it eliminates the reaching phase, (ii) it provides means to predict the entire motion and directly control the evolution of tracking errors, (iii) it facilitates the trajectory planning process in the joint and/or cartesian spaces. A planar, five-link bipedal locomotion model has been developed. Five constraint relations that cast the motion of the biped in terms of four parameters are developed. The new control method is applied to regulate the locomotion of the system according to the five constraint relations. Numerical simulation is performed to verify the ability of the controller to achieve steady gait by applying the proposed control scheme. Bifurcation diagrams of the periodic motions of the biped are used to demonstrate the improvements in controller performance that arise from the application of the proposed method.

Study on Trajectory Planning and Control Method in Profile Cutting of Roadheader

2010 ◽  
Vol 139-141 ◽  
pp. 1723-1727
Author(s):  
Jun Mao ◽  
Hong Yue Chen ◽  
Miao Xie ◽  
Jian Gang Li ◽  
Jian Wang
Keyword(s):  
Trajectory Planning ◽  
Control Method ◽  
Interpolation Method ◽  
Planning And Control ◽  
Cutting Head ◽  
Coal Roadway ◽  
Basic Network ◽  
Spatial Interpolation Method ◽  
And Control ◽  
Trajectory Planning And Control

As a result of the uneven distribution of the hardness of coal roadway section, the intelligent tunneling of roadheader is very important for cutting efficiency of roadheader in various working conditions. Profile cutting is the key technology of realizing intelligent tunneling of roadheader, and the trajectory planning method of cutting head is the technical bottleneck of solving profile cutting. In consideration of the randomness of cutting process, this paper designs specially a time and speed predictor by adopting the spatial interpolation method of joint, considers at the same time cutting-motor as a constraint condition, and uses radial basic network method to approximate the trajectory of cutting head. A novel and effective method is provided for profile cutting technology of roadheader.

scholarly journals Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

2020 ◽  
Vol 10 (5) ◽  
pp. 1626 ◽  
Author(s):  
Xiaodong Wu ◽  
Bangjun Qiao ◽  
Chengrui Su
Keyword(s):  
Trajectory Planning ◽  
Autonomous Vehicle ◽  
Safety Margin ◽  
Autonomous Driving ◽  
Simulation System ◽  
Lane Change ◽  
Lane Changing ◽  
Lane Changes ◽  
Gray Prediction ◽  
Safety Margins

A lane change is one of the most important driving scenarios for autonomous driving vehicles. This paper proposes a safe and comfort-oriented algorithm for an autonomous vehicle to perform lane changes on a straight and level road. A simplified Gray Prediction Model is designed to estimate the driving status of surrounding vehicles, and time-variant safety margins are employed during the trajectory planning to ensure a safe maneuver. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered rerouting to handle unexpected traffic situations. The concept of dynamic safety margins with different settings of parameters gives a customizable feature for the autonomous lane changing control. The effect of the algorithm is verified within a self-developed traffic simulation system.

Eliminating the Reaching Phase From Variable Structure Control

2000 ◽  
Vol 122 (4) ◽  
pp. 753-757 ◽  
Author(s):  
Cuneyt Yilmaz ◽  
Yildirim Hurmuzlu
Keyword(s):  
Control Method ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Exponential Functions ◽  
Tracking Errors ◽  
Control Effort ◽  
Structure Control ◽  
Optimal Convergence ◽  
And Control

In this paper, we present a variable structure control method that eliminates the reaching phase. The approach is based on modifying the sliding domain equations through the use of exponential functions. In addition, the proposed method insures optimal convergence parameters with respect to the tracking errors and control effort. [S0022-0434(00)02504-1]

scholarly journals Bifurcation of Lane Change and Control on Highway for Tractor-Semitrailer under Rainy Weather

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Tao Peng ◽  
Zhiwei Guan ◽  
Ronghui Zhang ◽  
Jinsong Dong ◽  
Kening Li ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Feedback Linearization ◽  
Oscillatory Behavior ◽  
Lane Change ◽  
Lane Changing ◽  
Lane Changes ◽  
Rainy Weather ◽  
Matrix Eigenvalues ◽  
Vehicle Test ◽  
And Control

A new method is proposed for analyzing the nonlinear dynamics and stability in lane changes on highways for tractor-semitrailer under rainy weather. Unlike most of the literature associated with a simulated linear dynamic model for tractor-semitrailers steady steering on dry road, a verified 5DOF mechanical model with nonlinear tire based on vehicle test was used in the lane change simulation on low adhesion coefficient road. According to Jacobian matrix eigenvalues of the vehicle model, bifurcations of steady steering and sinusoidal steering on highways under rainy weather were investigated using a numerical method. Furthermore, based on feedback linearization theory, taking the tractor yaw rate and joint angle as control objects, a feedback linearization controller combined with AFS and DYC was established. The numerical simulation results reveal that Hopf bifurcations are identified in steady and sinusoidal steering conditions, which translate into an oscillatory behavior leading to instability. And simulations of urgent step and single-lane change in high velocity show that the designed controller has good effects on eliminating bifurcations and improving lateral stability of tractor-semitrailer, during lane changing on highway under rainy weather. It is a valuable reference for safety design of tractor-semitrailers to improve the traffic safety with driver-vehicle-road closed-loop system.

Research on Dynamic Characteristics and Control Method of Propelling Nozzle Based on MATLAB/AMESim Integrated Simulation

2020 ◽  
Author(s):  
Zhitao Wang ◽  
Shuoshuo Liu ◽  
Tielei Li ◽  
Shuying Li
Keyword(s):  
Simulation Model ◽  
Dynamic Characteristics ◽  
Control Method ◽  
Aerodynamic Force ◽  
Pi Controller ◽  
Adjustment Process ◽  
Hydraulic Actuator ◽  
Integrated Simulation ◽  
Self Tuning ◽  
And Control

Abstract In this paper, the integrated simulation method is used to study the dynamic characteristics and control methods of propelling nozzle when it is coupled with the gas generator. The overall simulation model of the double-shaft hybrid exhaust turbofan engine was established by the volume inertia method under MATLAB/Simulink platform. A simulation model of the propelling nozzle hydraulic actuator was established under the AMESim platform. These two models are transmitted through the “Propelling Nozzle Throat Kinematics Simulation Module”, thus achieving the construction of the integrated simulation model. Then, based on the integrated model, a fuzzy self-tuning PI controller is developed. The quantization factor is obtained through optimization to further optimize the coupled dynamic response of the propelling nozzle. The simulation results show that the integrated simulation model captures the special change of aerodynamic force during the nozzle area adjustment process, which can more realistically show the working condition of the actuator. Controller design based on integrated simulation model is more reasonable. The fuzzy self-tuning PI controller used in this paper corrects the PI parameters online according to the fuzzy control rules, so that the hydraulic actuator of the nozzle formed by numerical simulation has faster response, and good dynamic characteristics. It has certain guiding significance for follow-up research.

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