Adaptive Velocity and Acceleration Control of Autonomous Vehicle Systems

作     者：Ren, Tianqun Wang, Baorui Gu, Guoxiang Chen, Xiang 

作者机构：The School of Information Science and Technology Southwest Jiaotong University Sichuan Chengdu610031 China The School of Electrical Engineering and Computer Science Louisiana State University Baton RougeLA70803-5901 United States The Department of Electrical and Computer Engineering University of Windsor 401 Sunset Avenue WindsorONN9B 3P4 Canada 

出 版 物：《TechRxiv》 (TechRxiv)

年 卷 期：2023年

核心收录：

主　　题：Velocity control 

摘      要：This paper proposes a Combined Adaptive Velocity and Acceleration Control (CAVAC) law for autonomous vehicles in the presence of unknown and uncertain parameters. In particular, the global asymptotic stability of the nonlinear vehicle system under the proposed adaptive velocity control is shown to be held without real-time estimation of the vehicle parameters. Moreover, the CAVAC law is applied to ensure the required inter-vehicle spacing, crucial to avoiding collisions in vehicle platoons. The simulation studies illustrate the advantages of the CAVAC law for the autonomous vehicle platoon in dealing with the speed limit changes, in mitigating issues induced by merging-exiting, and in ensuring collision avoidance. The experiments conducted on an electric vehicle also validate the effectiveness of the proposed control laws. © 2023, CC BY.