引用本文:吴 洋,罗 霞,刘昱岗.跟驰驾驶行为的滑模控制系统建模[J].控制理论与应用,2008,25(4):671~676.[点击复制]
WU Yang,LUO Xia,LIU Yu-gang.Sliding mode control system modeling of car-following driving behavior[J].Control Theory and Technology,2008,25(4):671~676.[点击复制]
跟驰驾驶行为的滑模控制系统建模
Sliding mode control system modeling of car-following driving behavior
摘要点击 2345  全文点击 1496  投稿时间：2006-06-13  修订日期：2007-10-23
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DOI编号  10.7641/j.issn.1000-8152.2008.4.015
  2008,25(4):671-676
中文关键词  交通工程  跟驰驾驶行为  滑模控制系统  稳定性
英文关键词  traffic engineering  car-following driving behavior  sliding mode control system  stability
基金项目  国家“863”计划项目(2006AA11Z206).
作者单位E-mail
吴 洋 西南交通大学 交通运输学院, 四川 成都 610031 wuyang333@yahoo.com.cn 
罗 霞 西南交通大学 交通运输学院, 四川 成都 610031  
刘昱岗 西南交通大学 交通运输学院, 四川 成都 610031  
中文摘要
      为量化描述跟驰驾驶行为的特质, 即个人意志(即稳速驾驶)与环境干扰(即车辆间距、速度差、加速度差)间的动态调和, 剖析了跟驰驾驶行为的“运动跟踪(即跟驰车辆对前导车辆速度、加速度轨迹的跟踪)”特性与“刺激–反应”机理, 建立了“刺激–反应”行为模式下跟驰驾驶行为的2阶滑模控制系统模型; 通过数学分析验证了本模型控制的跟驰车辆运动的Lyapunov渐近稳定性, 并通过数值仿真说明了本模型控制的跟驰车队的运动可能具备Lyapunov渐近稳定性.
英文摘要
      In order to quantitatively depict the car-following driving behavior in nature of the dynamic compromise between individual motive (i.e. velocity-stabilizing driving) and environmental interference (i.e. space, velocity difference, acceleration difference between the leading car and the following car), a second-order sliding mode control system modeling of car-following driving behavior is proposed within the framework of stimulus-response behavior model, based upon the analysis of ”motion tracking (i.e. velocity and acceleration trajectories tracking to the leading car by the following car)” characteristic and ”stimulus-response” mechanism of car-following driving behavior. The Lyapunov asymptotic stability of the car-following movement of a single vehicle under the control of the proposed model is then validated by mathematical analysis. Moreover, the possibility of Lyapunov asymptotic stability of car-following movement of the vehicle-queue under the control of the proposed model is revealed by numerical simulation.