Trajectory Tracking Control For Connected Vehicle Considering Car-Following Interactions

In the connected vehicle environment,efficient and stable vehicle trajectory tracking control can improve the driving safety,the vehicle platoon driving pattern can be formed by multi-vehicle trajectory tracking control,which can improve road traffic capacity and alleviate traffic congestion.In the context of vehicle trajectory tracking control,not only should the tracking objective be achieved,but also the status of vehicles should follow the traffic flow theory,which means that negative position tracking error and negative velocity should be avoided.However,the interaction between vehicles can affect the motion law of vehicles.Therefore,the interactions between vehicles cannot be ignored in the process of trajectory tracking control.This thesis addresses the problem of trajectory tracking control for connected vehicles(CVs).On the one hand,regarding the vehicle trajectory tracking control problem with communication delays,a non-linear trajectory tracking controller is proposed by considering the car-following interactions between vehicles and time delays,simulation experiments are performed for leader with varying velocity and three scenarios: no time delays,homogeneous time delays,and heterogeneous time delays to verify the effectiveness of the proposed controller.On the other hand,regarding the vehicle trajectory tracking control problem with velocity disturbances,based on the backstepping technology,a distributed nonlinear trajectory tracking controller is proposed by considering the car-following interactions between vehicles and velocity disturbances.Simulation experiments are performed for with/without velocity disturbances to verify the effectiveness of the proposed controller.Finally,regarding the vehicle lane-change scenario,a trajectory tracking control strategy is proposed by considering the carfollowing interactions between vehicles and lane change maneuvers,which ensures the vehicle completing the straight lane and lane-change driving maneuvers,the simulation results demonstrate the effectiveness of the proposed strategy.In addition,under the support of vehicle-to-vehicle/vehicle-to-infrastructure(V2V/V2 I,or V2X)communication technology,the connected vehicle can communicate with other vehicles and road side units through the Dedicated Short Range Communications(DSRC),this algorithm is transplanted to deeply verify the feasibility of the proposed controller.The main work of the thesis includes the following three aspects:1.Regarding the vehicle trajectory tracking control problem with communication delays,a nonlinear trajectory tracking controller is explored by considering car-following interactions between vehicles and communication delaysUnder the connected vehicle environment,the communication delays existing in the process of V2 V communication.First,based on vehicle dynamics model,the position tracking error is defined by coordinate rotation.Then,in the connected environment,a bidirectional leader-follower communication topology is proposed to characterize the communication connection among vehicles.The vehicles in the platoon can communicate with each other vehicles through the bidirectional leader-follower communication topology.A nonlinear trajectory tracking controller is proposed by considering the carfollowing interactions between vehicles,communication time delays,position error and velocity difference,the stability of the proposed controller is analyzed by Lyapunov method.Finally,simulations are performed for leader with varying velocity and three scenarios: no time delays,homogeneous time delays,and heterogeneous time delays,the effectiveness of the proposed controller is verified by simulation results,it can avoid the negative position error and negative velocity.2.Regarding the vehicle trajectory tracking control problem with velocity disturbances,a distributed nonlinear trajectory tracking controller based backstepping technology is proposed by considering car-following interactions between vehicles and velocity disturbancesA distributed control structure is adopted,based on backstepping technology,a distributed nonlinear trajectory tracking controller is proposed by considering carfollowing interactions between vehicles and velocity disturbances,which ensures that the vehicle can track the leader trajectory and maintain the desired safe gap,the velocity also can converge to the same as the leader vehicle.Then,the stability of the proposed controller is proved by using the Lyapunov theorem.Finally,two simulation scenarios are set,which include with/without velocity disturbances,the effectiveness of the proposed controller is verified by simulation results.3.Regarding the vehicle trajectory tracking control problem under the lanechange driving,a distributed nonlinear tracking control strategy is proposed by considering car-following interactions between vehicles and lane change maneuversA distributed nonlinear trajectory tracking control strategy is proposed by considering car-following interactions between vehicles and lane-change maneuvers,which ensures that the vehicle can complete the straight lane and lane-change driving maneuvers.Then,the stability of the proposed controller is analyzed by using Lyapunov theorem.Finally,the proposed control law is validated by numerical simulation.In addition,under the of vehicle-to-vehicle/vehicle-to-infrastructure communication environment,the vehicle is equipped with an on-board unit and a human-machine interface,and the road side units are evenly arranged on both sides of the road,the vehicles can communicate via DSRC device.Transplant trajectory tracking control algorithm to deeply verify the feasibility of the proposed controller.