论文标题
通过设计巡航控制器来构建人造流体
Constructing Artificial Traffic Fluids by Designing Cruise Controllers
论文作者
论文摘要
在本文中，我们将控制Lyapunov功能方法应用于设计两个巡航控制器家族，以使用自动驾驶汽车在无车道道路上使用自行车运动模型在无车道道路上进行二维运动。控制Lyapunov的功能基于系统能量的度量，其动能的方式类似于牛顿或相对论力学。派生的反馈法律（巡航控制器）被分散，因为每辆车都根据其自身速度以及距离相邻车辆和道路边界的相对速度和距离来确定其控制输入。此外，得出相应的宏观模型，获得了由保护方程和带压力和粘性项的动量方程组成的流体样模型。最后，我们表明，通过适当选择反馈定律的参数，我们可以确定“交通流体”的物理特性，即，我们可以自由地创建一个近似新兴流量流的人造液体。
In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov functions are based on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized, as each vehicle determines its control input based on its own speed and on the relative speeds and distances from adjacent vehicles and from the boundary of the road. Moreover, the corresponding macroscopic models are derived, obtaining fluid-like models that consist of a conservation equation and a momentum equation with pressure and viscous terms. Finally, we show that, by selecting appropriately the parameters of the feedback laws, we can determine the physical properties of the "traffic fluid", i.e. we get free hand to create an artificial fluid that approximates the emerging traffic flow.
