Coordinated Lateral and Longitudinal Vehicle-Following Control of Connected and Automated Vehicles Considering Nonlinear Dynamics

In this letter, the problem of coordinated lateral and longitudinal vehicle-following control for connected and automated vehicles (CAVs) is investigated by considering nonlinear dynamics. Based on a nonlinear model of longitudinal and lateral vehicle dynamics and vehicle-to-vehicle (V2V) communication, we propose a triple-step nonlinear control law for a CAV to follow the trajectory of preceding vehicle. The stability regarding the time gap spacing and velocity errors is discussed via Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control for curved lanes.

[1]  Steven E. Shladover,et al.  PATH at 20—History and Major Milestones , 2007, IEEE Transactions on Intelligent Transportation Systems.

[2]  Tao Zhang,et al.  An Integrated Longitudinal and Lateral Vehicle Following Control System With Radar and Vehicle-to-Vehicle Communication , 2019, IEEE Transactions on Vehicular Technology.

[3]  Hermann Winner,et al.  Three Decades of Driver Assistance Systems: Review and Future Perspectives , 2014, IEEE Intelligent Transportation Systems Magazine.

[4]  Shahram Azadi,et al.  Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres , 2019, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics.

[5]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[6]  Hairi Zamzuri,et al.  Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges , 2017, J. Intell. Robotic Syst..

[7]  Stefan K. Gehrig,et al.  A trajectory-based approach for the lateral control of car following systems , 1998, SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218).

[8]  Rachid Outbib,et al.  Nonlinear feedback control and trajectory tracking of vehicle , 2015, Int. J. Syst. Sci..

[9]  Francesco Borrelli,et al.  Control of Connected and Automated Vehicles: State of the Art and Future Challenges , 2018, Annu. Rev. Control..

[10]  Maarouf Saad,et al.  Vision-based curved lane keeping control for intelligent vehicle highway system , 2019, J. Syst. Control. Eng..

[11]  Karl Henrik Johansson,et al.  Fuel-Efficient En Route Formation of Truck Platoons , 2017, IEEE Transactions on Intelligent Transportation Systems.

[12]  Henk Nijmeijer,et al.  Combined Longitudinal and Lateral Control of Car-Like Vehicle Platooning With Extended Look-Ahead , 2020, IEEE Transactions on Control Systems Technology.

[13]  Alberto Isidori,et al.  The zero dynamics of a nonlinear system: FrOm The Origin To the latest progresses of a long successful story , 2011, Proceedings of the 30th Chinese Control Conference.

[14]  Nanning Zheng,et al.  Integrated Longitudinal and Lateral Control for Kuafu-II Autonomous Vehicle , 2016, IEEE Transactions on Intelligent Transportation Systems.

[15]  Hong Chen,et al.  Fault-Tolerant Control of Electric Ground Vehicles Using a Triple-Step Nonlinear Approach , 2018, IEEE/ASME Transactions on Mechatronics.

[16]  Henk Nijmeijer,et al.  Combined lateral and longitudinal CACC for a unicycle-type platoon , 2016, 2016 IEEE Intelligent Vehicles Symposium (IV).

[17]  Sanjiv Singh,et al.  The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA , 2009, The DARPA Urban Challenge.

[18]  Wei-Bin Zhang,et al.  Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons , 2000, IEEE Trans. Control. Syst. Technol..

[19]  Hui Zhang,et al.  Vehicle Lateral Dynamics Control Through AFS/DYC and Robust Gain-Scheduling Approach , 2016, IEEE Transactions on Vehicular Technology.

[20]  Nathan van de Wouw,et al.  Controller Synthesis for String Stability of Vehicle Platoons , 2014, IEEE Transactions on Intelligent Transportation Systems.

[21]  Hong Chen,et al.  Triple-step method to design non-linear controller for rail pressure of gasoline direct injection engines , 2014 .

[22]  Mehrdad Dianati,et al.  Trajectory planning and tracking for autonomous overtaking: State-of-the-art and future prospects , 2018, Annu. Rev. Control..

[23]  Yougang Bian,et al.  A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles , 2020, IEEE Intelligent Transportation Systems Magazine.

[24]  Charles A. Desoer,et al.  Combined Longitudinal and Lateral Control of a Platoon of Vehicles , 1992, 1992 American Control Conference.