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Embedding Robust Constraint-Following Control in Cooperative On-Ramp Merging
IEEE Transactions on Vehicular Technology ( IF 6.8 ) Pub Date : 2021-01-08 , DOI: 10.1109/tvt.2021.3049866
Zhanyi Hu , Jin Huang , Zeyu Yang , Zhihua Zhong

Cooperative on-ramp merging control for connected and automated vehicles have been widely studied in recent years. One of the major challenges for this multi-vehicle coordination problem is to execute a safe and efficient merging process considering realistic uncertainties in vehicle dynamics. This paper puts forward a two-layer merging control framework made up of centralized sequencing and distributed control. A Roadside Agent installed in the merging area identifies the merging sequence of vehicles approaching the merging area in terms of their estimated time of arrival at the merging point. Once the sequence is determined, distributed controllers will guide the vehicles to execute the merging process. The controller is designed based on Udwadia-Kalaba approach and Lyapunov stability theory and is capable of handling nonlinear vehicle dynamics and time-varying uncertainty. It renders both uniform boundedness and uniform ultimate boundedness performance for the spacing error and thus executes the merging process effectively. Simulations results verify the superiority of the proposed control method compared with baselines methods. Furthermore, the effectiveness of the proposed method is also validated under different traffic demands and multiple-vehicle-pack merging situation.

中文翻译:

将鲁棒约束跟踪控制嵌入到匝道协作合并中

近年来,对互联和自动车辆的匝道合作合并控制进行了广泛的研究。考虑到车辆动力学中的实际不确定性,执行多车协调问题的主要挑战之一是执行安全有效的合并过程。提出了由集中排序和分布式控制组成的两层合并控制框架。安装在合并区域中的路边代理根据到达合并点的估计时间来确定接近合并区域的车辆的合并顺序。确定顺序后,分布式控制器将引导车辆执行合并过程。该控制器是基于Udwadia-Kalaba方法和Lyapunov稳定性理论设计的,能够处理非线性车辆动力学和时变不确定性。它为间距误差提供统一的有界性和统一的最终有界性,从而有效地执行合并过程。仿真结果验证了所提出的控制方法与基线方法相比的优越性。此外,在不同的交通需求和多车组合并的情况下,该方法的有效性也得到了验证。仿真结果验证了所提出的控制方法与基线方法相比的优越性。此外,在不同的交通需求和多车组合并的情况下,该方法的有效性也得到了验证。仿真结果验证了所提出的控制方法与基线方法相比的优越性。此外,在不同的交通需求和多车组合并的情况下,该方法的有效性也得到了验证。
更新日期:2021-02-16
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