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

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

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.