CN115963770B - Method, system, computer equipment and storage medium for controlling safety lane change of motorcade - Google Patents

Method, system, computer equipment and storage medium for controlling safety lane change of motorcade Download PDF

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CN115963770B
CN115963770B CN202310256661.XA CN202310256661A CN115963770B CN 115963770 B CN115963770 B CN 115963770B CN 202310256661 A CN202310256661 A CN 202310256661A CN 115963770 B CN115963770 B CN 115963770B
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vehicle
liquid crystal
display device
crystal display
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CN115963770A (en
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车伟伟
张丽丽
邓超
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Qingdao University
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Qingdao University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
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    • Y02T10/40—Engine management systems

Abstract

The invention belongs to the technical field of vehicle team lane change control, and particularly discloses a vehicle team safety lane change control method, a system, computer equipment and a storage medium. The invention adopts a layering control strategy with integral consistency, and improves the control performance. Constructing a target lane change track for a leader vehicle in a technical layer; longitudinal and transverse controllers are provided at the operator level to ensure that the leader and follower vehicles respectively complete tracking of the constructed target lane-change trajectory and the lead vehicle. The invention can avoid collision with vehicles in the target lane and the current lane at the same time, and improves the safety of changing lanes of the motorcade. The invention can ensure that the motorcade can safely finish lane changing with preset precision within preset time, and the preset lane changing finishing time considers the information of relative displacement, speed, acceleration and the like of the vehicle, thereby ensuring that the vehicle can realize preset performance lane changing in the born control input, protecting the hardware equipment of the vehicle and avoiding the collision of the vehicle.

Description

Method, system, computer equipment and storage medium for controlling safety lane change of motorcade
Technical Field
The invention belongs to the technical field of vehicle team lane change control, and particularly relates to a vehicle team safety lane change control method, a system, computer equipment and a storage medium.
Background
Lane change control of vehicles is an important research content in intelligent transportation. In practice, vehicles need to change lanes to adjust speed or handle emergency situations, etc. Whether the vehicle can safely finish lane changing affects the transportation efficiency and stability of the whole intelligent transportation system. Due to the complexity of the driving road conditions, the possibility of collision during the course of changing the vehicle is very high. The occurrence of vehicle collision not only affects the safety of the whole intelligent transportation system and reduces the transportation efficiency, but also causes casualties and economic losses, so that a reliable vehicle lane change control method is widely focused and studied. Vehicle lane change control algorithms have been proposed by scholars to avoid collisions with vehicles in the target lane. However, when it is necessary to complete a lane change by acceleration or deceleration, the vehicle is necessarily at risk of collision with other vehicles in the current lane. To this end, the learner further developed a series of vehicle safety lane change control algorithms based on minimum safety distances from the vehicles in the target lane and the current lane.
So far, most lane change control studies have been mainly directed to a single vehicle. And a fleet composed of a plurality of vehicles can complete more complex tasks, so that the fleet safety lane change control is extremely valuable to study. However, the above-described single-vehicle lane-change control algorithm cannot prevent collisions between vehicles in a fleet, and thus cannot be directly applied to the fleet lane-change control. In order to avoid collision between the vehicle and the target lane and collision between the vehicles in the current lane and collision in the vehicle, the safety of changing the lane of the vehicle is ensured to the greatest extent, and a more perfect vehicle collision avoidance algorithm is required to be provided so as to determine the lane changing tracking track of the vehicle.
In addition, convergence time and convergence area are key indicators for evaluating system performance. The limited time stability criterion can ensure that the system converges faster than the asymptotic stability theory. Therefore, scholars have proposed a non-singular terminal sliding mode controller to ensure that a fleet completes a lane change within a limited time and avoid collisions within the fleet. Such limited time lane change control algorithms require that the initial position of the vehicle must be known, however in practical systems such requirements are not necessarily guaranteed.
In addition, vehicles are often modeled as non-linear systems for fit reality. Based on the nonlinear term of the fuzzy logic system or the neural network which is approximate to the unknown, the finite time fleet lane change error is not converged to zero any more but is converged to an unknown cell. Then, before the lane change is completed, the time required for the fleet to complete the lane change and the accuracy that the fleet can ensure for the lane change cannot be determined, which increases the risk of collision. Therefore, it is of further practical value and significance if it can be ensured that the fleet completes the lane change with a predetermined accuracy within a predetermined time. The existing preset performance lane change control algorithm can only avoid the collision in the vehicle platoon, so that the lane change vehicle platoon still has higher collision risk among the vehicle platoons. In addition, the above-described reservation of the fleet completion lane change time does not take into account information such as the position, speed, and acceleration of the vehicle, which is too far from reality. To ensure that lane changes can be completed within a predetermined time, a fleet theoretically requires very large control inputs, but vehicles are difficult to reach in practice.
Disclosure of Invention
The invention aims to provide a safe lane change control method for a motorcade, which ensures that the lane change precision and the finishing time can be reserved by providing a more practical performance function, and ensures that the motorcade can realize the lane change control with preset performance more easily.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a motorcade safety lane change control method comprises the following steps:
step 1, establishing a motorcade kinematic model;
step 2, obtaining a vehicle team collision avoidance condition based on the constructed vehicle team kinematics model, namely obtaining a condition for avoiding collision among the vehicle teams and in the vehicle teams in the lane change process;
step 3, calculating the lane change completion time of the motorcade based on the collision avoidance conditions of the motorcade;
step 4, constructing a target tracking track of the leader vehicle based on the lane change completion time of the vehicle fleet, wherein the step comprises constructing a target transverse tracking track of the leader vehicle and a longitudinal tracking track of the leader vehicle;
step 5, designing a longitudinal controller and a transverse controller with preset performances for a motorcade consisting of a leader vehicle and a follower vehicle respectively based on a backstepping method according to the constructed target tracking track;
and 6, based on the longitudinal controller and the transverse controller, finishing the safety lane change control of the motorcade.
In addition, on the basis of the motorcade safety lane change control method, the invention also provides a motorcade safety lane change control system which is suitable for the motorcade safety lane change control method, and the motorcade safety lane change control system adopts the following technical scheme:
a fleet safety lane change control system comprising:
the motorcade kinematic model construction module is used for building a motorcade kinematic model;
the motorcade collision avoidance condition calculation module is used for obtaining motorcade collision avoidance conditions according to the constructed motorcade kinematic model, namely obtaining conditions for avoiding collision among motorcades and in motorcades in the lane change process;
the motorcade lane change completion time calculation module is used for calculating the motorcade lane change completion time according to the collision avoidance conditions of the motorcade;
the target tracking track construction module is used for constructing a target tracking track of the leader vehicle according to the lane change completion time of the vehicle team, and comprises a transverse tracking track of the target of the leader vehicle and a longitudinal tracking track of the leader vehicle;
the preset performance controller construction module is used for respectively designing a longitudinal controller and a transverse controller with preset performance for the leader vehicle and the follower vehicle based on a backstepping method according to the constructed target tracking track;
and the motorcade safety lane change control module is used for completing motorcade safety lane change control according to the longitudinal controller and the transverse controller.
In addition, on the basis of the vehicle team safety lane change control method, the invention also provides computer equipment which comprises a memory and one or more processors.
The memory stores executable codes, and the processor is used for realizing the steps of the motorcade security lane change control method when executing the executable codes.
In addition, on the basis of the vehicle team safety lane change control method, the invention further provides a computer readable storage medium on which a program is stored.
The program, when executed by the processor, is adapted to carry out the steps of the above-mentioned fleet safety lane change control method.
The invention has the following advantages:
1. the method adopts a layering control strategy with integral consistency, and improves the control performance. At the technical layer, a target lane change track is constructed for a leader vehicle; at the operating level, longitudinal and transverse controllers are respectively proposed to ensure that the leader and follower vehicles respectively complete tracking of the constructed target lane-change trajectory and the lead vehicle.
2. The method can avoid collision with vehicles in the target lane and the current lane at the same time, improves the lane changing safety of the motorcade, has practical application value and meets the technical requirements of intelligent traffic control.
3. The method can ensure that the motorcade safely completes lane changing with preset precision within preset time, and the preset lane changing completion time considers the information of relative displacement, speed, acceleration and the like of the vehicle, so as to ensure that the vehicle can realize preset performance lane changing in the born control input, and avoid the collision of the vehicle while protecting the hardware equipment of the vehicle.
Drawings
FIG. 1 is a flow chart of a method for controlling a fleet safety lane change in an embodiment of the present invention.
Fig. 2 is a schematic diagram of lane change implemented by the method of the present invention, showing a state before lane change of a fleet.
Fig. 3 is a schematic diagram of lane change implemented by the method of the present invention, showing a state in a lane change process of a fleet.
Fig. 4 is a schematic diagram of lane change implemented by the method of the present invention, showing a state after lane change of a fleet.
FIG. 5 shows a vehicle M during lane change in accordance with an embodiment of the present invention 0 And vehicle L d Is a positional relationship diagram of (a).
FIG. 6 is a schematic illustration of a vehicle M during lane change in an embodiment of the invention 0 And vehicle L o Is a positional relationship diagram of (a).
FIG. 7 shows a vehicle M during lane change in accordance with an embodiment of the present invention n And vehicle F d Is a positional relationship diagram of (a).
FIG. 8 is a schematic illustration of a vehicle M during lane change in an embodiment of the invention n And vehicle F o Is a positional relationship diagram of (a).
Fig. 9 is a graph of radius of curvature during lane change in an embodiment of the invention.
Detailed Description
Example 1
Aiming at the defects of the existing motorcade safety lane change control technology, the embodiment 1 provides a motorcade safety lane change control method with preset performance based on a layering technology, wherein a target lane change track is designed for a leader vehicle on a technical layer while collision between motorcades and inside motorcades is avoided; on the operation layer, the leader vehicle and the follower vehicle are ensured to respectively track the target lane change track and the front vehicle with preset precision in preset time.
Specifically, as shown in fig. 1, the method for controlling the safe lane change of the motorcade in this embodiment includes the following steps:
step 1, establishing a motorcade kinematic model, wherein the motorcade kinematic model is expressed as:
Figure SMS_1
(1)
Figure SMS_2
(2)
Figure SMS_3
(3)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_9
indicating vehicle->
Figure SMS_7
Is a displacement vector of (a); />
Figure SMS_13
And->
Figure SMS_6
Respectively corresponding to express vehicle->
Figure SMS_15
Longitudinal displacement and lateral displacement of the left front corner;
Figure SMS_8
indicating vehicle->
Figure SMS_12
Is a velocity vector of (2); />
Figure SMS_17
And->
Figure SMS_21
Respectively corresponding to express vehicle->
Figure SMS_5
Longitudinal speed and lateral speed of the left front corner; />
Figure SMS_11
Indicating vehicle->
Figure SMS_14
Is a vector of acceleration; />
Figure SMS_20
And->
Figure SMS_19
Respectively corresponding to express vehicle->
Figure SMS_23
Longitudinal acceleration and lateral acceleration of the front left corner; />
Figure SMS_10
Indicating vehicle->
Figure SMS_16
Is a saturation controller of (1); />
Figure SMS_18
And->
Figure SMS_22
Respectively corresponding to express vehicle->
Figure SMS_4
Is a saturation longitudinal controller and a saturation transverse controller.
Figure SMS_24
。
Figure SMS_25
。
Figure SMS_39
Is a longitudinal control to be designed, +.>
Figure SMS_27
Is a transverse controller to be designed;
Figure SMS_35
，/>
Figure SMS_29
，/>
Figure SMS_36
，
Figure SMS_38
the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure SMS_41
、/>
Figure SMS_34
、/>
Figure SMS_40
And->
Figure SMS_26
Are predetermined normal numbers.
Figure SMS_32
Representing an unknown nonlinear vector function, +.>
Figure SMS_30
And
Figure SMS_33
representing an unknown nonlinear function ++>
Figure SMS_31
，
Figure SMS_37
；/>
Figure SMS_28
N represents the number of follower vehicles.
When i=0, the number of the cells,
Figure SMS_42
representing the leader vehicle when +.>
Figure SMS_43
When (I)>
Figure SMS_44
Representing a follower vehicle.
And 2, obtaining a collision avoidance condition of the motorcade based on the constructed motorcade kinematic model, namely obtaining a condition for avoiding collision among motorcades and in the motorcade in the lane changing process. The method for obtaining the collision avoidance conditions of the motorcade comprises the following steps:
step 2.1. Leader vehicle according to the vehicle position relationship shown in FIG. 5
Figure SMS_45
And front car of target lane->
Figure SMS_46
Collision avoidance conditions between->
Figure SMS_47
The method comprises the following steps:
Figure SMS_48
(4)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_50
indicating vehicle->
Figure SMS_55
Longitudinal displacement of the left front corner;
Figure SMS_59
，/>
Figure SMS_51
and->
Figure SMS_54
Respectively are provided withIndicating vehicle->
Figure SMS_58
Length of (d) and vehicle
Figure SMS_62
Width of->
Figure SMS_49
Indicating vehicle->
Figure SMS_56
Deflection angle of +.>
Figure SMS_60
Indicating vehicle->
Figure SMS_63
And vehicle->
Figure SMS_52
A predetermined safe distance therebetween; />
Figure SMS_53
Indicating the time of completion of the change of the fleet,/>
Figure SMS_57
Indicating vehicle->
Figure SMS_61
Longitudinal displacement of the left front corner.
Step 2.2. Leader vehicle according to the vehicle position relationship shown in FIG. 6
Figure SMS_64
And the current lane front car->
Figure SMS_65
Collision avoidance conditions between->
Figure SMS_66
The method comprises the following steps:
Figure SMS_67
(5)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_70
indicating vehicle->
Figure SMS_71
Left front angle longitudinal displacement;
Figure SMS_73
，/>
Figure SMS_69
indicating vehicle->
Figure SMS_72
Length of->
Figure SMS_74
Indicating vehicle->
Figure SMS_75
And vehicle->
Figure SMS_68
A predetermined safe distance therebetween.
Step 2.3. Follower vehicle according to the vehicle position relationship shown in FIG. 7
Figure SMS_76
And rear car of target lane->
Figure SMS_77
Collision avoidance conditions between->
Figure SMS_78
The method comprises the following steps:
Figure SMS_79
(6)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_81
indicating vehicle->
Figure SMS_86
Longitudinal displacement of the left front corner;
Figure SMS_89
，/>
Figure SMS_82
indicating vehicle->
Figure SMS_85
Width of->
Figure SMS_88
Indicating vehicle->
Figure SMS_91
Is provided; />
Figure SMS_80
Indicating vehicle->
Figure SMS_84
And vehicle->
Figure SMS_87
A predetermined safe distance therebetween; />
Figure SMS_90
Indicating vehicle->
Figure SMS_83
Longitudinal displacement of the left front corner.
Step 2.4. Follower vehicle according to the vehicle position relationship shown in FIG. 8
Figure SMS_92
And the rear car of the current lane->
Figure SMS_93
Collision avoidance conditions between->
Figure SMS_94
The method comprises the following steps:
Figure SMS_95
(7)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_97
indicating vehicle->
Figure SMS_100
Longitudinal displacement of the left front corner; />
Figure SMS_102
，
Figure SMS_98
Indicating vehicle->
Figure SMS_99
Width of->
Figure SMS_101
Indicating vehicle->
Figure SMS_103
And vehicle->
Figure SMS_96
A predetermined safe distance therebetween.
Step 2.5. In addition, the radius of curvature as shown in fig. 9 directly determines the stability of the lane change process. Thus, a smooth lane change process is critical to ensuring driver and passenger comfort.
According to the longitudinal displacement required for changing tracks shown in FIG. 9
Figure SMS_104
The conditions are satisfied:
Figure SMS_105
the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure SMS_106
Is the turning radius +.>
Figure SMS_107
Is the overall longitudinal displacement of the fleet; thus, the time for the completion of the changing of the vehicle team is +.>
Figure SMS_108
The following requirements are also satisfied:
Figure SMS_109
(8)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_110
represents an integral variable +.>
Figure SMS_111
Is the minimum turning radius; />
Figure SMS_112
Indicating vehicle->
Figure SMS_113
Target longitudinal acceleration of (a); />
Figure SMS_114
Indicating team +.>
Figure SMS_115
Is used for the initial longitudinal velocity of the vehicle.
And step 3, calculating the lane change completion time of the motorcade based on the collision avoidance conditions of the motorcade.
Time of completion of changing lane of motorcade
Figure SMS_116
Obtained by solving the following set of inequalities:
Figure SMS_117
(9)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_122
representing leader vehicle->
Figure SMS_128
Is set in the first longitudinal direction; />
Figure SMS_134
、/>
Figure SMS_119
、
Figure SMS_126
、/>
Figure SMS_132
Respectively corresponding to express vehicle->
Figure SMS_138
、/>
Figure SMS_120
、/>
Figure SMS_125
、/>
Figure SMS_131
Longitudinal acceleration of (2); />
Figure SMS_137
、
Figure SMS_121
、/>
Figure SMS_127
、/>
Figure SMS_133
Respectively corresponding to express vehicle->
Figure SMS_139
、/>
Figure SMS_140
、/>
Figure SMS_143
、/>
Figure SMS_145
Is set in the first longitudinal direction;
Figure SMS_146
representing fleet and vehicle->
Figure SMS_118
Initial distance between>
Figure SMS_124
Representing fleet and vehicle->
Figure SMS_130
An initial distance between; />
Figure SMS_136
Representing fleet and vehicle->
Figure SMS_123
Initial distance between>
Figure SMS_129
Representing fleet and vehicle->
Figure SMS_135
An initial distance between; to ensure that the vehicle is +_ after lane change is complete>
Figure SMS_141
And vehicle->
Figure SMS_142
Can not collide and can be wore>
Figure SMS_144
The following conditions need to be satisfied:
Figure SMS_147
；
Figure SMS_148
；
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_151
indicating team +.>
Figure SMS_154
Is a length of (2); />
Figure SMS_157
、/>
Figure SMS_152
、/>
Figure SMS_153
、/>
Figure SMS_156
、
Figure SMS_159
Respectively corresponding to express vehicle->
Figure SMS_149
、/>
Figure SMS_155
、/>
Figure SMS_158
、/>
Figure SMS_160
、/>
Figure SMS_150
Is used for the initial longitudinal displacement of the piston.
Based on formula (9)
Figure SMS_161
And the meeting condition is that the vehicle team lane change completion time can be obtained through solving.
And 4, constructing a target tracking track of the leader vehicle based on the fleet lane change completion time, wherein the constructing comprises constructing a target transverse tracking track of the leader vehicle and a longitudinal tracking track of the leader vehicle.
According to the steps of3, the lane change completion time calculated in 3
Figure SMS_162
Leader vehicle->
Figure SMS_163
The target acceleration of (2) is modeled as:
Figure SMS_164
；
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_165
representing leader vehicle->
Figure SMS_166
Is set in the vehicle, is a target lateral acceleration of (1).
The construction method of the transverse tracking track and the longitudinal tracking track of the leader vehicle target comprises the following steps:
Figure SMS_167
(10)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_168
representing a leader vehicle target lateral tracking trajectory;
Figure SMS_169
(11)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_170
representing a leader vehicle target longitudinal tracking trajectory.
And 5, respectively designing a longitudinal controller and a transverse controller with preset performances for a motorcade consisting of a leader vehicle and a follower vehicle based on a backstepping method according to the constructed target tracking track.
The step 5 specifically comprises the following steps:
step 5.1. Vehicle obtained according to step 3Queue change completion time
Figure SMS_171
The following more realistic performance functions were constructed:
Figure SMS_172
(12)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_174
representing a performance function; />
Figure SMS_177
And->
Figure SMS_179
Is a predetermined positive design parameter, ">
Figure SMS_175
Representation->
Figure SMS_176
Or alternatively
Figure SMS_178
，/>
Figure SMS_180
Depending on the initial state of the fleet system, +.>
Figure SMS_173
Is a predetermined fleet lane change tracking error.
Step 5.2. According to the constructed Performance function
Figure SMS_181
The following error transformations were performed:
Figure SMS_182
(13)
Figure SMS_183
(14)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_184
representing follower vehicle->
Figure SMS_185
And front vehicle->
Figure SMS_186
The error in the longitudinal displacement between them,
Figure SMS_187
representing follower vehicle->
Figure SMS_188
And front vehicle->
Figure SMS_189
And a lateral displacement error therebetween.
Figure SMS_190
。
Figure SMS_191
，/>
Figure SMS_192
。
Figure SMS_207
Representing longitudinal displacement error +.>
Figure SMS_195
Error transformation of->
Figure SMS_202
Representing lateral displacement errors
Figure SMS_198
Is a transformation of the error of (2); />
Figure SMS_203
Representation->
Figure SMS_205
Performance function at time, ++>
Figure SMS_209
Representation->
Figure SMS_197
Performance function at time; />
Figure SMS_200
Representing the longitudinal displacement of the leader vehicle>
Figure SMS_193
And longitudinal target tracking track->
Figure SMS_199
Error between->
Figure SMS_194
Representing the transverse displacement of the leader vehicle>
Figure SMS_204
And transverse target tracking track->
Figure SMS_208
Errors between; />
Figure SMS_211
，/>
Figure SMS_196
The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>
Figure SMS_201
Representing follower vehicle->
Figure SMS_206
Length of->
Figure SMS_210
Representing predetermined fleet of vehiclesSafety distance between vehicles.
Step 5.3. Designing a longitudinal controller of preset Performance for a fleet of leader and follower vehicles based on a back-stepping approach
Figure SMS_212
And a transversal controller->
Figure SMS_213
The method comprises the steps of carrying out a first treatment on the surface of the The specific process is as follows:
step 5.1. According to the fleet lane change completion time obtained in step 3
Figure SMS_214
The following more realistic performance functions were constructed:
Figure SMS_215
(12)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_217
representing a performance function; />
Figure SMS_219
And->
Figure SMS_221
Is a predetermined positive design parameter, ">
Figure SMS_218
Representation->
Figure SMS_220
Or alternatively
Figure SMS_222
，/>
Figure SMS_223
Depending on the initial state of the fleet system, +.>
Figure SMS_216
Is a predetermined fleet lane change tracking error;
step 5.2. According to the constructed Performance function
Figure SMS_224
The following error transformations were performed:
Figure SMS_225
(13)
Figure SMS_226
(14)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_227
representing follower vehicle->
Figure SMS_228
And front vehicle->
Figure SMS_229
The error in the longitudinal displacement between them,
Figure SMS_230
representing follower vehicle->
Figure SMS_231
And front vehicle->
Figure SMS_232
A lateral displacement error therebetween;
Figure SMS_233
;
Figure SMS_234
，/>
Figure SMS_235
；
Figure SMS_238
representing longitudinal displacement error +.>
Figure SMS_243
Error transformation of->
Figure SMS_246
Representing lateral displacement errors
Figure SMS_239
Is a transformation of the error of (2); />
Figure SMS_242
Representation->
Figure SMS_245
Performance function at time, ++>
Figure SMS_248
Representing z =p y Performance function at time; />
Figure SMS_236
Representing the longitudinal displacement of the leader vehicle>
Figure SMS_240
And longitudinal target tracking track->
Figure SMS_244
Error between->
Figure SMS_247
Representing the transverse displacement of the leader vehicle>
Figure SMS_237
And transverse target tracking track->
Figure SMS_241
Errors between;
Figure SMS_249
，/>
Figure SMS_250
；
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_251
representing follower vehicle->
Figure SMS_252
Length of->
Figure SMS_253
Representing a predetermined safe distance between vehicles in the fleet;
step 5.3. Designing a longitudinal controller of preset Performance for a fleet of leader and follower vehicles based on a back-stepping approach
Figure SMS_254
And a transversal controller->
Figure SMS_255
The method comprises the steps of carrying out a first treatment on the surface of the The specific process is as follows:
step 5.3.1 for
Figure SMS_256
Selecting Lyapunov candidate function +.>
Figure SMS_257
The method comprises the following steps:
Figure SMS_258
(15)
according to equation (1), equation (13) and equation (14), then
Figure SMS_259
The derivative of (2) is:
Figure SMS_260
(16)
when (when)
Figure SMS_261
When (I)>
Figure SMS_262
，/>
Figure SMS_263
；
Figure SMS_264
Is a virtual longitudinal speed controller, +.>
Figure SMS_265
Is a virtual lateral speed controller; />
Figure SMS_266
Is a virtual longitudinal speed control error, +.>
Figure SMS_267
Is a virtual lateral velocity control error.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_268
，
Figure SMS_269
；/>
Figure SMS_270
，
Figure SMS_271
；/>
Figure SMS_272
，/>
Figure SMS_273
。
using the young's inequality, we get:
Figure SMS_274
(17)
Figure SMS_275
(18)
substituting equations (17) and (18) into equation (16) yields:
Figure SMS_276
(19)
according to equation (19), virtual longitudinal and lateral speed controllers are designed to be:
Figure SMS_277
(20)
Figure SMS_278
(21)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_279
and->
Figure SMS_280
Is a design parameter; in connection with formulas (20) and (21), formula (19) is rewritten as:
Figure SMS_281
(22)
step 5.3.2. Control error for virtual longitudinal speed
Figure SMS_282
And virtual lateral velocity control error
Figure SMS_283
The following Lyapunov candidate function is constructed>
Figure SMS_284
The method comprises the following steps: />
Figure SMS_285
(23)
According to formula (2),
Figure SMS_286
the derivative of (2) is:
Figure SMS_287
(24)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_288
is a virtual longitudinal acceleration controller, +.>
Figure SMS_289
Is a virtual lateral acceleration controller; />
Figure SMS_290
Is a virtual longitudinal acceleration control error, +.>
Figure SMS_291
Is a virtual lateral acceleration control error;
Figure SMS_292
，/>
Figure SMS_293
。
Figure SMS_294
；
Figure SMS_295
；
wherein, superscript
Figure SMS_296
、/>
Figure SMS_297
Represents the>
Figure SMS_298
、/>
Figure SMS_299
Order derivative, l.epsilon.0, 1]The method comprises the steps of carrying out a first treatment on the surface of the Using the young's inequality, we get:
Figure SMS_300
(25)
Figure SMS_301
(26)
substituting equations (25) and (26) into equation (24) yields:
Figure SMS_302
(27)
constructing virtual longitudinal acceleration controllers according to formula (27)
Figure SMS_303
Lateral acceleration controller
Figure SMS_304
The method comprises the following steps:
Figure SMS_305
(28)
Figure SMS_306
(29)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_307
and->
Figure SMS_308
Is a design parameter.
Combining equations (28) and (29), equation (27) translates into:
Figure SMS_309
(30)
step 5.3.3. Will be the vehicle respectively
Figure SMS_310
The true adaptive neural network longitudinal and transverse controllers are designed.
Control error for virtual longitudinal acceleration
Figure SMS_311
And virtual lateral acceleration error->
Figure SMS_312
The following Lyapunov candidate function is constructed>
Figure SMS_313
：
Figure SMS_314
(31)
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_315
is approximation error, ++>
Figure SMS_316
，/>
Figure SMS_317
Or->
Figure SMS_318
；/>
Figure SMS_319
Is an unknown parameter->
Figure SMS_320
Is a similar estimate of (1); according to formula (3), we get:
Figure SMS_321
(32)
approximation of unknown nonlinear functions using neural networks
Figure SMS_322
And->
Figure SMS_323
The method comprises the following steps of:
Figure SMS_324
(33)
Figure SMS_325
(34)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_326
、/>
Figure SMS_327
ideal weight vector representing neural network, +.>
Figure SMS_328
And->
Figure SMS_329
Is a Gaussian function>
Figure SMS_330
And->
Figure SMS_331
The expressions of (2) are respectively:
Figure SMS_332
；
Figure SMS_333
；
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_335
is an exponential function, M>1 is the number of nodes of the neural network,
Figure SMS_337
is->
Figure SMS_340
Center vector of each hidden layer node, +.>
Figure SMS_336
Is a center vector +.>
Figure SMS_339
Is a sub-vector of (2); />
Figure SMS_342
Is->
Figure SMS_344
The width of the individual neurons; />
Figure SMS_334
And
Figure SMS_338
is an approximation error, and->
Figure SMS_341
And->
Figure SMS_343
Is a positive constant; substituting equations (33) and (34) into equation (32) yields:
Figure SMS_345
(35)
using the young's inequality, we get:
Figure SMS_346
(36)
Figure SMS_347
(37)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_348
and->
Figure SMS_349
Is an unknown parameter, which will be approximately estimated by the design of an adaptive law below; combining equations (36) and (37), equation (35) translates into:
Figure SMS_350
(38)
according to equation (38), the adaptive longitudinal and lateral controllers are designed to:
Figure SMS_351
(39)
Figure SMS_352
(40)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_353
and->
Figure SMS_354
Is a design parameter; substituting equations (39) and (40) into equation (38) yields: />
Figure SMS_355
(41)
According to the formula (41), the adaptive law of the design parameters is as follows:
Figure SMS_356
(42)
Figure SMS_357
(43)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_358
and->
Figure SMS_359
Is a design parameter;using equations (42) and (43), equation (41) is converted into:
Figure SMS_360
(44)
according to the young's inequality, we get:
Figure SMS_361
(45)
Figure SMS_362
(46)
substituting equations (45) and (46) into equation (44) yields:
Figure SMS_363
(47)
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_364
。
and 6, based on the longitudinal controller and the transverse controller, finishing the safety lane change control of the motorcade.
Construction of the integral Lyapunov function
Figure SMS_365
The method comprises the following steps:
Figure SMS_366
(48)/>
according to formulas (22), (30) and (47), we get:
Figure SMS_367
(49)
Figure SMS_369
，/>
Figure SMS_375
the method comprises the steps of carrying out a first treatment on the surface of the Derived from formula (49)>
Figure SMS_379
Is bounded; thus (S)>
Figure SMS_368
And->
Figure SMS_374
Is bounded; based on->
Figure SMS_378
And->
Figure SMS_381
Respectively consider
Figure SMS_370
And->
Figure SMS_372
Further based on the longitudinal controller and the transverse controller of the preset performance designed in the step 5, the track-changing tracking error of the motorcade +.>
Figure SMS_376
And->
Figure SMS_380
Can be +.>
Figure SMS_371
Inside respectively converging to a predetermined area->
Figure SMS_373
And->
Figure SMS_377
An inner part; thus, the fleet safely completes the preset performance lane change.
Example 2
Embodiment 2 describes a system for controlling the lane change of the fleet safety, which is based on the same inventive concept as the method for controlling the lane change of the fleet safety described in embodiment 1. Specifically, the fleet safety lane change control system includes:
the motorcade kinematic model construction module is used for building a motorcade kinematic model;
the motorcade collision avoidance condition calculation module is used for obtaining motorcade collision avoidance conditions according to the constructed motorcade kinematic model, namely obtaining conditions for avoiding collision among motorcades and in motorcades in the lane change process;
the motorcade lane change completion time calculation module is used for calculating the motorcade lane change completion time according to the collision avoidance conditions of the motorcade;
the target tracking track construction module is used for constructing a target tracking track of the leader vehicle according to the lane change completion time of the vehicle team, and comprises a transverse tracking track of the target of the leader vehicle and a longitudinal tracking track of the leader vehicle;
the preset performance controller construction module is used for respectively designing a longitudinal controller and a transverse controller with preset performance for the leader vehicle and the follower vehicle based on a backstepping method according to the constructed target tracking track;
and the motorcade safety lane change control module is used for completing motorcade safety lane change control according to the longitudinal controller and the transverse controller.
It should be noted that, in the fleet safety lane changing control system, the implementation process of the functions and roles of each functional module is specifically shown in the implementation process of the corresponding steps in the method in the above embodiment 1, and will not be described herein again.
Example 3
Embodiment 3 describes a computer apparatus for implementing the steps of the fleet safety lane change control method described in embodiment 1 above.
The computer device includes a memory and one or more processors. Executable code is stored in the memory, which when executed by the processor is used to implement the steps of the fleet safety lane change control method described above.
In this embodiment, the computer device is any device or apparatus having data processing capability, which is not described herein.
Example 4
Embodiment 4 describes a computer-readable storage medium for implementing the steps of the fleet safety lane change control method described in embodiment 1 above.
The computer-readable storage medium of embodiment 4 has stored thereon a program for implementing the steps of the above-described fleet safety lane change control method when executed by a processor.
The computer readable storage medium may be an internal storage unit of any device or apparatus having data processing capability, such as a hard disk or a memory, or may be an external storage device of any device having data processing capability, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), or the like, which are provided on the device.
The foregoing description is, of course, merely illustrative of preferred embodiments of the present invention, and it should be understood that the present invention is not limited to the above-described embodiments, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.

Claims (5)

1. The method for controlling the safety lane change of the motorcade is characterized by comprising the following steps:
step 1, establishing a motorcade kinematic model;
step 2, obtaining a collision avoidance condition of the motorcade based on the constructed motorcade kinematic model, namely obtaining a condition for avoiding collision among motorcades and in the motorcade in the lane changing process;
step 3, calculating the lane change completion time of the motorcade based on the collision avoidance conditions of the motorcade;
step 4, constructing a target tracking track of the leader vehicle based on the lane change completion time of the vehicle fleet, wherein the step comprises constructing a target transverse tracking track of the leader vehicle and a longitudinal tracking track of the leader vehicle;
step 5, designing a longitudinal controller and a transverse controller with preset performances for a motorcade consisting of a leader vehicle and a follower vehicle based on a back step method according to the constructed target tracking track;
step 6, based on the longitudinal controller and the transverse controller, finishing the safety lane change control of the motorcade;
in the step 1, the motorcade dynamics model is expressed as:
Figure FDA0004258520970000011
Figure FDA0004258520970000012
Figure FDA0004258520970000013
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000014
representing vehicle M i Is a displacement vector of (a); />
Figure FDA0004258520970000015
And->
Figure FDA0004258520970000016
Respectively and correspondingly represent the vehicle M i Longitudinal displacement and lateral displacement of the left front corner;
Figure FDA0004258520970000017
representing vehicle M i Is a velocity vector of (2); />
Figure FDA0004258520970000018
And->
Figure FDA0004258520970000019
Respectively and correspondingly represent the vehicle M i Longitudinal speed and lateral speed of the left front corner;
Figure FDA00042585209700000110
representing vehicle M i Is a vector of acceleration; />
Figure FDA00042585209700000111
And->
Figure FDA00042585209700000112
Respectively and correspondingly represent the vehicle M i Longitudinal acceleration and lateral acceleration of the front left corner;
Figure FDA00042585209700000113
representing vehicle M i Is a saturation controller of (1);
Figure FDA00042585209700000114
and->
Figure FDA00042585209700000115
Respectively and correspondingly represent the vehicle M i A saturation longitudinal controller and a saturation transverse controller;
Figure FDA00042585209700000116
Figure FDA00042585209700000117
Figure FDA00042585209700000118
is a longitudinal control to be designed, +.>
Figure FDA00042585209700000119
Is a transverse controller to be designed;
Figure FDA0004258520970000021
Figure FDA0004258520970000022
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000023
and->
Figure FDA0004258520970000024
Are predetermined normal numbers;
Figure FDA0004258520970000025
representing an unknown nonlinear vector function, +.>
Figure FDA0004258520970000026
And->
Figure FDA0004258520970000027
Representing an unknown nonlinear function ++>
Figure FDA0004258520970000028
Figure FDA0004258520970000029
i=0, 1, …, n, n representing the number of follower vehicles;
when i=0, M 0 Representing a leader vehicle, when i=1, …, n, M i Representing a follower vehicle;
in the step 2, the method for obtaining the collision avoidance conditions of the motorcade comprises the following steps:
step 2.1. Leader vehicle M 0 And a target lane front vehicle L d Collision avoidance conditions S between MLd (t) is:
Figure FDA00042585209700000210
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA00042585209700000211
representing a vehicle L d Longitudinal displacement of the left front corner;
Figure FDA00042585209700000212
l Ld and->
Figure FDA00042585209700000213
Respectively represent the vehicles L d Length of (d) and vehicle M 0 Is (t) represents the width of the vehicle M 0 Deflection angle d of (d) MLd Representing a vehicle L d And vehicle M 0 A predetermined safe distance therebetween;
t l indicating the completion time of the change of the motorcade,
Figure FDA00042585209700000214
representing vehicle M 0 Longitudinal displacement of the left front corner;
step 2.2. Leader vehicle M 0 And a current lane front vehicle L o Collision avoidance conditions S between MLo (t) is:
Figure FDA00042585209700000215
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000031
representing a vehicle L o Left front corner longitudinalDisplacement; />
Figure FDA0004258520970000032
l Lo Representing a vehicle L o Length d of (d) MLo Representing a vehicle L o And vehicle M 0 A predetermined safe distance therebetween;
step 2.3. follower vehicle M n And target lane rear vehicle F d Collision avoidance conditions S between MFd (t) is:
Figure FDA0004258520970000033
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000034
representing vehicle F d Longitudinal displacement of the left front corner;
Figure FDA0004258520970000035
representing vehicle M n Width of->
Figure FDA0004258520970000036
Representing vehicle M n Is provided; d, d MFd Representing vehicle F d And vehicle M n A predetermined safe distance therebetween;
Figure FDA0004258520970000037
representing vehicle M n Longitudinal displacement of the left front corner;
step 2.4. follower vehicle M n And a rear vehicle F of the current lane o Collision avoidance conditions S between MFo (t) is:
Figure FDA0004258520970000038
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000039
representing vehicle F o Longitudinal displacement of the left front corner; />
Figure FDA00042585209700000310
Representing vehicle M n Width d of (d) MFo Representing vehicle F o And vehicle M n A predetermined safe distance therebetween;
step 2.5. The longitudinal displacement L required for lane change satisfies the condition:
Figure FDA00042585209700000311
wherein R is a turning radius, and H is the overall longitudinal displacement of the fleet; thus, the lane change completion time t of the motorcade l The following requirements are also satisfied:
Figure FDA0004258520970000041
wherein λ represents an integral variable, R min Is the minimum turning radius;
Figure FDA0004258520970000042
representing vehicle M 0 Target longitudinal acceleration of (a); />
Figure FDA0004258520970000043
Representing an initial longitudinal speed of the fleet M;
in the step 3, the time t for completing the lane change of the motorcade l Obtained by solving the following set of inequalities:
Figure FDA0004258520970000044
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000045
representing leader vehicle M 0 Is set in the first longitudinal direction; />
Figure FDA0004258520970000046
Figure FDA0004258520970000047
Respectively and correspondingly represent the vehicle L d 、L o 、F d 、F o Longitudinal acceleration of (2); />
Figure FDA0004258520970000048
Figure FDA0004258520970000049
Respectively and correspondingly represent the vehicle L d 、L o 、F d 、F o Is set in the first longitudinal direction; s is S MLd (0) Representing fleet and vehicle L d Initial distance between S MLo (0) Representing fleet and vehicle L o An initial distance between; s is S MFd (0) Representing fleet and vehicle F d Initial distance between S MFo (0) Representing fleet and vehicle F o An initial distance between;
to ensure that the lane change is completed the vehicle M 0 And vehicle L d The collision can not occur, and the collision can not occur,
Figure FDA00042585209700000410
the following conditions need to be satisfied:
Figure FDA0004258520970000051
Figure FDA0004258520970000052
wherein l M Indicating the length of the fleet M;
Figure FDA0004258520970000053
Figure FDA0004258520970000054
respectively and correspondingly represent the vehicle L d 、L o 、F d 、F o 、M 0 Is used for the initial longitudinal displacement of the piston;
based on formula (9)
Figure FDA0004258520970000055
The satisfied conditions, namely the completion time of the changing of the motorcade can be solved;
in the step 4, the construction method of the transverse tracking track and the longitudinal tracking track of the leader vehicle target comprises the following steps:
Figure FDA0004258520970000056
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000057
representing a leader vehicle target lateral tracking trajectory;
Figure FDA0004258520970000058
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000059
representing a leader vehicle target longitudinal tracking trajectory;
the step 5 specifically comprises the following steps:
step 5.1. According to the fleet lane change completion time t obtained in step 3 l The following more realistic performance functions were constructed:
Figure FDA0004258520970000061
wherein D is zi (t) represents a performance function; r is R zi And epsilon zi Is a predetermined positive design parameter, z represents p x Or p y ，R zi Depending on the initial state of the fleet system ε zi Is a predetermined fleet lane change tracking error;
step 5.2. According to the constructed Performance function D zi (t) performing the following error transformation:
Figure FDA0004258520970000062
Figure FDA0004258520970000063
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000064
representing follower vehicle M i And a front vehicle M (i-1) Longitudinal displacement error between->
Figure FDA0004258520970000065
Representing follower vehicle M i And a front vehicle M (i-1) A lateral displacement error therebetween;
Figure FDA0004258520970000066
Figure FDA0004258520970000067
Figure FDA0004258520970000068
representing longitudinal displacement error +.>
Figure FDA0004258520970000069
Error transformation of->
Figure FDA00042585209700000610
Representing lateral displacement errors
Figure FDA00042585209700000611
Is a transformation of the error of (2); />
Figure FDA00042585209700000612
Representing z=p x Performance function at time, ++>
Figure FDA00042585209700000613
Representing z=p y Performance function at time; />
Figure FDA00042585209700000614
Representing the longitudinal displacement of the leader vehicle>
Figure FDA00042585209700000615
And longitudinal target tracking track->
Figure FDA00042585209700000616
Error between->
Figure FDA00042585209700000617
Representing the transverse displacement of the leader vehicle>
Figure FDA00042585209700000618
And transverse target tracking track->
Figure FDA0004258520970000071
Errors between;
Figure FDA0004258520970000072
wherein l Mi Representing follower vehicle M i D represents a predetermined safe distance between vehicles in the fleet;
step 5.3. Designing a longitudinal controller of preset Performance for a fleet of leader and follower vehicles based on a back-stepping approach
Figure FDA0004258520970000073
And a transversal controller->
Figure FDA0004258520970000074
The specific process is as follows:
step 5.3.1. For i=0, 1, …, n, the lyapunov candidate function is selected
Figure FDA0004258520970000075
The method comprises the following steps:
Figure FDA0004258520970000076
according to equation (1), equation (13) and equation (14), then V pi The derivative of (t) is:
Figure FDA0004258520970000077
when i=1, …, n,
Figure FDA0004258520970000078
Figure FDA0004258520970000079
is virtualLongitudinal speed controller->
Figure FDA00042585209700000710
Is a virtual lateral speed controller; />
Figure FDA00042585209700000711
Is a virtual longitudinal speed control error, +.>
Figure FDA00042585209700000712
Is a virtual lateral velocity control error;
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA00042585209700000713
Figure FDA00042585209700000714
Figure FDA0004258520970000081
using the young's inequality, we get:
Figure FDA0004258520970000082
Figure FDA0004258520970000083
substituting equations (17) and (18) into equation (16) yields:
Figure FDA0004258520970000084
according to equation (19), virtual longitudinal and lateral speed controllers are designed to be:
Figure FDA0004258520970000085
Figure FDA0004258520970000086
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000087
and->
Figure FDA0004258520970000088
Is a design parameter; in connection with formulas (20) and (21), formula (19) is rewritten as:
Figure FDA0004258520970000089
step 5.3.2. Control error for virtual longitudinal speed
Figure FDA00042585209700000810
And virtual lateral velocity control error
Figure FDA0004258520970000091
Construction of the following Lyapunov candidate function +.>
Figure FDA0004258520970000092
The method comprises the following steps:
Figure FDA0004258520970000093
according to formula (2),
Figure FDA0004258520970000094
the derivative of (2) is:
Figure FDA0004258520970000095
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000096
is a virtual longitudinal acceleration controller, +.>
Figure FDA0004258520970000097
Is a virtual lateral acceleration controller;
Figure FDA0004258520970000098
is a virtual longitudinal acceleration control error, +.>
Figure FDA0004258520970000099
Is a virtual lateral acceleration control error;
Figure FDA00042585209700000910
Figure FDA00042585209700000911
Figure FDA00042585209700000912
wherein, the superscript l, l+1 represents the first, l+1 derivative of the variable, l.epsilon.0, 1; using the young's inequality, we get:
Figure FDA0004258520970000101
Figure FDA0004258520970000102
substituting equations (25) and (26) into equation (24) yields:
Figure FDA0004258520970000103
constructing virtual longitudinal acceleration controllers according to formula (27)
Figure FDA0004258520970000104
Lateral acceleration controller
Figure FDA0004258520970000105
The method comprises the following steps:
Figure FDA0004258520970000106
Figure FDA0004258520970000107
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000108
and->
Figure FDA0004258520970000109
Is a design parameter;
combining equations (28) and (29), equation (27) translates into:
Figure FDA00042585209700001010
step 5.3.3. Will be vehicle M, respectively i Designing true adaptive neural network longitudinal and lateral controlA device;
control error for virtual longitudinal acceleration
Figure FDA00042585209700001011
And virtual lateral acceleration error->
Figure FDA00042585209700001012
Construction of the following Lyapunov candidate function +.>
Figure FDA0004258520970000111
Figure FDA0004258520970000112
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000113
is approximation error, ++>
Figure FDA0004258520970000114
k＝x i Or y i ；
Figure FDA0004258520970000115
Is an unknown parameter theta k Is a similar estimate of (1); according to formula (3), we get:
Figure FDA0004258520970000116
approximation of unknown nonlinear functions using neural networks
Figure FDA0004258520970000117
And->
Figure FDA0004258520970000118
The method comprises the following steps:
Figure FDA0004258520970000119
Figure FDA00042585209700001110
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA00042585209700001111
ideal weight vector representing neural network, +.>
Figure FDA00042585209700001112
And->
Figure FDA00042585209700001113
Is a Gaussian function>
Figure FDA00042585209700001114
And->
Figure FDA00042585209700001115
The expressions of (2) are respectively:
Figure FDA00042585209700001116
Figure FDA00042585209700001117
wherein exp (·) is an exponential function, M>1 is the number of nodes of the neural network, c m ＝[c 1,m ,c 2,m ,...,c M,m ] T Is the center vector of the mth hidden layer node, c 1,m ,c 2,m ,...,c M,m As the center vector c m Is a sub-vector of (2);
w m is the width of the mth neuron;
Figure FDA0004258520970000121
and->
Figure FDA0004258520970000122
Is an approximation error, and->
Figure FDA0004258520970000123
And->
Figure FDA0004258520970000124
Is a positive constant;
substituting equations (33) and (34) into equation (32) yields:
Figure FDA0004258520970000125
using the young's inequality, we get:
Figure FDA0004258520970000126
Figure FDA0004258520970000127
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000128
and->
Figure FDA0004258520970000129
Is an unknown parameter, which will be approximately estimated by the design of an adaptive law below;
combining equations (36) and (37), equation (35) translates into:
Figure FDA00042585209700001210
according to equation (38), the adaptive longitudinal and lateral controllers are designed to:
Figure FDA0004258520970000131
/>
Figure FDA0004258520970000132
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000133
and->
Figure FDA0004258520970000134
Is a design parameter; substituting equations (39) and (40) into equation (38) yields:
Figure FDA0004258520970000135
according to the formula (41), the adaptive law of the design parameters is as follows:
Figure FDA0004258520970000136
Figure FDA0004258520970000137
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000138
and->
Figure FDA0004258520970000139
Is a design parameter; using equations (42) and (43), equation (41) is converted into:
Figure FDA00042585209700001310
according to the young's inequality, we get:
Figure FDA0004258520970000141
Figure FDA0004258520970000142
substituting equations (45) and (46) into equation (44) yields:
Figure FDA0004258520970000143
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure FDA0004258520970000144
2. the method for controlling a safe lane change of a vehicle according to claim 1, wherein,
the step 6 specifically comprises the following steps:
the integral Lyapunov function V (t) is constructed as follows:
Figure FDA0004258520970000145
according to formulas (22), (30) and (47), we get:
Figure FDA0004258520970000146
Figure FDA0004258520970000147
Figure FDA0004258520970000148
v (t) is bounded, as obtained according to equation (49); thus (S)>
Figure FDA0004258520970000149
And->
Figure FDA00042585209700001410
Is bounded; based on->
Figure FDA0004258520970000151
And->
Figure FDA0004258520970000152
Respectively consider
Figure FDA0004258520970000153
And->
Figure FDA0004258520970000154
Further based on the longitudinal controller and the transverse controller of the preset performance designed in the step 5, the track-changing tracking error of the motorcade +.>
Figure FDA0004258520970000155
And->
Figure FDA0004258520970000156
Can converge to a predetermined area within a predetermined limited time tl, respectively>
Figure FDA0004258520970000157
And->
Figure FDA0004258520970000158
An inner part; thus, the fleet safely completes the preset performance lane change.
3. A fleet safety lane change control system for implementing the fleet safety lane change control method as set forth in claim 1 or 2, characterized in that the fleet safety lane change control system comprises:
the motorcade kinematic model construction module is used for building a motorcade kinematic model;
the motorcade collision avoidance condition calculation module is used for obtaining the motorcade collision avoidance conditions according to the constructed motorcade kinematics model, namely obtaining the conditions for avoiding collision between motorcades and in motorcades in the lane change process;
the motorcade lane change completion time calculation module is used for calculating the motorcade lane change completion time according to the motorcade collision avoidance conditions;
the target tracking track construction module is used for constructing a target tracking track of the leader vehicle according to the lane change completion time of the vehicle team, and comprises a transverse tracking track of the target of the leader vehicle and a longitudinal tracking track of the leader vehicle;
the preset performance controller construction module is used for respectively designing a longitudinal controller and a transverse controller with preset performance for the leader vehicle and the follower vehicle based on a backstepping method according to the constructed target tracking track;
and the motorcade safety lane change control module is used for completing motorcade safety lane change control according to the longitudinal controller and the transverse controller.
4. A computer device comprising a memory and one or more processors, the memory having executable code stored therein, wherein the processor, when executing the executable code,
the steps of implementing the fleet safety lane change control method as claimed in claim 1 or 2.
5. A computer-readable storage medium having a program stored thereon, which when executed by a processor, implements the steps of the fleet safety lane change control method as claimed in claim 1 or 2.
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