关键词: 变工况, 跟踪控制, 滑模变结构控制, 模糊滑模控制, 智能车路系统

Abstract: Autonomous driving for intelligent vehicle and platoon is achieved by improving the intelligent control level of single vehicle and the ability of information interaction between vehicle and highway in intelligent vehicle-highway system, in which traffic flow is adjusted to the best and highway capacity, road safety is improved by means of increasing speed and reducing the space between vehicles, thus the increasingly serious traffic problems are solved. The intelligent vehicle platoon driving simulation experiment system is constructed under the coordination between vehicle and highway by means of one-tenth of model cars, simulated road and the technology of intelligent control and wireless communication. Among them, intelligent control for single vehicle is the most important. Sliding mode variable structure control method is a simple and fast, robust, and most reliable control method. On the basis of the intelligent vehicle simulation system by adding acceleration sensor, the speed tracking controller is designed by fuzzy sliding mode control based on equivalent control. A given reference speed can be globally stably tracked when the intelligent vehicle drives in variable road conditions. The simulation results show the effectiveness and stability of the controller, the study on the control for a platoon of autonomous vehicles under the coordination between vehicle and highway can be promoted by theories and experiments.

Key words: Fuzzy sliding mode control, Intelligent vehicle-highway system, Sliding mode variable structure control, Tracking control, Variable road conditions