Adaptive trajectory tracking control for autonomous vehicle platoons

Shaohua Cui; Yutong Tang; Zhihao Qi; Yongjie Xue

doi:10.1117/12.2684690

21 July 2023 Adaptive trajectory tracking control for autonomous vehicle platoons

Shaohua Cui, Yutong Tang, Zhihao Qi, Yongjie Xue

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 127170W (2023) https://doi.org/10.1117/12.2684690
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

Through the backstepping technique, this paper designs an observer-based event-triggered adaptive trajectory tracking control algorithm for the Autonomous Vehicle (AV) platoons with motion uncertainties (e.g., unknown AV mass, air resistance, and variable conversion errors). In order to avoid the transmission of excessive multi-vehicle status information (i.e., speed, acceleration, headway, position, expected trajectory, and so on) between AVs, this adaptive platoon control algorithm proposed only uses the imprecise sampled AV positions. The event-triggered mechanism with a fixed event-triggered threshold is introduced to reduce the update frequency of AV control laws. Through the newly constructed Lyapunov function, the adaptive platoon control algorithm designed could realize the simultaneous tracking of expected position and speed trajectories, and there exists an update time interval limit of AV control laws not less than the sampling time interval of AV positions. Through numerical simulation, the adaptive platoon control algorithm designed could control the heterogeneous AV platoon in linear formation where AV speed and positions are observed precisely, and all heterogeneous AVs in the platoon track the expected position and speed trajectories simultaneously. In addition, the update time interval of AV control laws is longer than the sampling time interval of AV positions.

Citation Download Citation

Shaohua Cui, Yutong Tang, Zhihao Qi, and Yongjie Xue "Adaptive trajectory tracking control for autonomous vehicle platoons", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 127170W (21 July 2023); https://doi.org/10.1117/12.2684690

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KEYWORDS

Adaptive control

Detection and tracking algorithms

Resistance

Bismuth

Unmanned vehicles

Data communications

Error analysis

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