2023年（第45卷）第8期汽车工程AutomotiveEngineering2023（Vol.45）No.8车辆队列抗扰抗内切协同路径跟踪控制*边有钢1，2，张田田1，谢和平1，3，秦洪懋1，2，杨泽宇1，2（1.湖南大学机械与运载工程学院，汽车车身先进设计制造国家重点实验室，长沙410082；2.湖南大学无锡智能控制研究院，无锡214115；3.徐州徐工矿业机械有限公司，徐州210009）［摘要］本文研究过弯场景下车辆队列的抗扰抗内切协同路径跟踪控制方法。首先，基于前车直接跟随式方案，采用圆弧曲线跟踪路径代替一般直线跟踪路径，构建车辆队列过弯抗内切策略，以降低车辆队列过弯时的整体跟踪误差；其次，设计卡尔曼滤波器和龙伯格观测器，以解决跟随车位置状态噪声及航向状态噪声或不易量测的问题；然后，设计协同路径跟踪控制器，并基于李雅普诺夫稳定性理论导出系统稳定的充分条件，指导控制器参数设计；最后，通过数值仿真和实车试验验证控制器设计的可行性和有效性。关键词：智能网联汽车；路径跟踪控制；协同控制；抗扰控制Anti-disturbanceandAnti-corner-cuttingControlforCollaborativePathTrackingofVehiclePlatoonBianYougang1，2，ZhangTiantian1，XieHeping1，3，QinHongmao1，2&YangZeyu1，21.CollegeofMechanicalandVehicleEngineering，HunanUniversity，StateKeyLaboratoryofAdvancedDesignandManufacturingforVehicleBody，Changsha410082；2.WuxiIntelligentControlResearchInstituteofHunanUniversity，Wuxi214115；3.XuzhouXCMGMiningMachineryCo.，Ltd.，Xuzhou210009［Abstract］Theanti-disturbanceandanti-corner-cuttingcollaborativepathtrackingcontrolmethodforavehicleplatoonundertheturningscenarioisstudiedinthispaper.Firstly,basedonthepredecessor-followingtopol‐ogyscheme，aplatoonturninganti-corner-cuttingstrategyisconstructedbyusingcircular-arccurvetrackingpathtoreplacethegeneralstraight-linetrackingpath,alleviatingtheoveralltrackingerrorofthevehicleplatoonduringturning.Secondly,aKalmanfilterandaLuenbergerobserveraredesignedtoaddresstheproblemofpositionnoiseandheadingnoiseofthefollowingvehicleordifficultmeasurement.Then,acollaborativepathtrackingcontrollerisdesigned.ByusingtheLyapunovstabilitytheory,sufficientconditionsforsystemstabilityarederivedforcontrollerparameterdesign.Finally,thef...
