This paper proposes a hierarchical control approach to solve the prescribed performance lane-changing control problem for nonlinear vehicle platoons. By incorporating the collision avoidance and comfort assurance conditions specifically tailored for vehicle platoons, the value range of the safe lane-changing completion time (LCCT) can be calculated. Based on which, the longitudinal and lateral reference displacements are determined for the leader vehicle, respectively. Further, to safely achieve the prescribed performance lane changing in the operational layer, a class of more practical performance functions is designed based on the calculated LCCT as the key technology for proposing the neural network longitudinal and lateral control protocols. The developed lane-changing control strategies guarantee that the vehicle platoon can track the obtained reference trajectory while avoiding inter-platoon and intra-platoon collisions. Furthermore, the safe lane-changing maneuver can be achieved within the predefined LCCT with the preset accuracy. Finally, the availability of the proposed hierarchical algorithm is checked through two simulation examples with comparisons.

中文翻译：

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以规定性能对车辆列队进行分层变道控制


本文提出了一种分层控制方法来解决非线性车辆列队的规定性能变道控制问题。通过结合专为车辆列队定制的防撞和舒适性保证条件，可以计算出安全变道完成时间 （LCCT） 的值范围。在此基础上，分别确定 Leader Vehicle 的纵向和横向参考位移。此外，为了在操作层安全地实现规定的性能变道，基于计算的 LCCT 设计了一类更实用的性能函数，作为提出神经网络纵向和横向控制协议的关键技术。开发的变道控制策略保证了车辆列队可以跟踪获得的参考轨迹，同时避免了列队间和列队内碰撞。此外，可以在预定义的 LCCT 中以预设的精度实现安全的变道操作。最后，通过两个仿真示例进行比较，检查所提出的分层算法的可用性。