This paper proposes a guaranteed cost strategy for longitudinal control of vehicles mainly considering speed-limit control based on map information. Firstly, a state-space model is developed to calculate the desired acceleration for the speed-limit control. Secondly, based on the formulated state-space model, a state-feedback guaranteed cost strategy is developed for the speed-limit control with system uncertainties considered. The stability of the proposed state-feedback guaranteed cost control system is discussed according to Lyapunov stability theory by means of linear matrix inequality approach and Schur complement. Moreover, with the proposed control law, it is proved that the defined cost function has an upper bound. Thirdly, to reduce potential unnecessary acceleration or deceleration caused by disturbances, an event-triggered filter is designed. Finally, to evaluate the performance of the proposed guaranteed cost controller, a switching PID controller, and a guaranteed cost controller without the proposed event-triggered filter are developed for comparisons. The effectiveness and the advantages of the proposed guaranteed cost strategy are proved by simulations where model uncertainties, disturbances, and the latency of the actuator are considered.

提出了一种主要考虑基于地图信息的限速控制的车辆纵向控制的保证成本策略。首先，建立状态空间模型以计算限速控制所需的加速度。其次，基于制定的状态空间模型，在考虑系统不确定性的情况下，为限速控制开发了状态反馈保证成本策略。根据Lyapunov稳定性理论，利用线性矩阵不等式方法和Schur补函数，对所提出的状态反馈保证成本控制系统的稳定性进行了讨论。此外，利用所提出的控制律，证明了定义的成本函数具有上限。第三，为减少干扰引起的潜在不必要的加速或减速，设计了一个事件触发的过滤器。最后，为了评估所提出的保证成本控制器的性能，开发了一种开关PID控制器和没有所提出的事件触发滤波器的保证成本控制器进行比较。通过考虑模型不确定性，干扰和执行器等待时间的仿真，证明了所提出的保证成本策略的有效性和优势。