Intelligent longitudinal control of vehicle platoons via wavelet neural network approach

摘要

Upon entering the intelligent automated highway system, the longitudinal control of vehicle platoons system will drive a vehicle along the fully automated highway. To achieve this objective, this paper proposes a WNN-based intelligent longitudinal control (WILC) system via wavelet neural network (WNN) approach for the vehicle platoons system. The proposed WILC system is composed of a neural controller and a fuzzy compensator. The neural controller is designed to mimic an ideal controller and the fuzzy compensator is designed to compensate for the difference between the ideal controller and the neural controller. The adaptation laws of the control parameters are derived in the sense of Lyapunov stability theorem and Barbalat's lemma, so that the stability of the control system can be guaranteed. Finally, two simulation scenarios are examined to verify the effectiveness of the proposed WILC system. The simulation results demonstrate that the proposed WILC system can achieve favorable control performance for the safe vehicle-following control.