论文标题
基于控制Lyapunov功能的无车道环路的巡航控制器
Cruise Controllers for Lane-Free Ring-Roads based on Control Lyapunov Functions
论文作者
论文摘要
该论文介绍了新颖的巡航控制器家族，用于在无车道的道路上使用自动驾驶汽车。巡航控制器的设计基于适当选择以类似于牛顿或相对论力学的方式表达的动能的对照lyapunov函数。派生的反馈法律（巡航控制器）被分散（每辆车），因为每辆车都基于以下方式确定其控制输入：（i）其自身状态； （ii）仅距离相邻车辆（Indiscid Cruise控制器）或相邻车辆状态（粘性巡航控制器）的距离； （iii）它与环道边界的距离。还提出了对无车道直路和无车道环道之间的差异和相似性的详细分析。
The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed 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 (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road. A detailed analysis of the differences and similarities between lane-free straight roads and lane-free ring-roads is also presented.
