Open AccessSafety guaranteed longitudinal motion control for connected and autonomous vehicles in a lane‐changing scenario
Author(s) -
Hu Zhanyi,
Yang Zeyu,
Huang Jin,
Zhong Zhihua
Publication year - 2021
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/itr2.12029
Subject(s) - constraint (computer aided design) , controller (irrigation) , control theory (sociology) , upper and lower bounds , process (computing) , lyapunov function , bounded function , stability (learning theory) , mathematical optimization , computer science , lyapunov stability , motion (physics) , robust control , control (management) , mathematics , engineering , control system , artificial intelligence , biology , operating system , mathematical analysis , physics , geometry , electrical engineering , nonlinear system , quantum mechanics , machine learning , agronomy
This paper aims at utilising the ideology of controlling a constrained dynamical system to address the longitudinal motion control problem during lane‐changing process subject to time‐varying uncertainties. To this end, a robust controller is designed based on Udwadia–Kalaba (UK) approach and Lyapunov stability theory. Most of the studies on lane‐changing considered only the equality constraint, namely the desired inter‐vehicle distance. In a bilateral inequality constraint, the upper bound avoids unpredictable cut‐ins and the lower bound collisions. This research applies the constraint to guarantee a safe and efficient lane‐changing process. The original UK approach cannot handle bilateral inequalities. Therefore, a diffeomorphism method is proposed to transform the bounded state to an unbounded one. The latter enables the UK approach to deal with both equality and bilateral inequality constraints. The proposed controller can render each vehicle to adjust its distance with the predecessor without violating the prescribed bounds. Numerical experiments have been conducted to validate the effectiveness of the proposed controller under different traffic demands.