自律走行車のGA強化制御：FlexRayプロトコルのランダム摂動サンプリング期間下での協調制御

This article addresses the lateral dynamics control problem for autonomous vehicle systems under randomly perturbed sampling (RPS) periods and the FlexRay communication protocol. To capture vehicle nonlinearities under variable-velocity conditions, a T-S fuzzy model is constructed using longitudinal velocity as the premise variable. The random sampling behavior caused by hardware aging and environmental disturbances is modeled as a Markovian process. Then, measured outputs are transmitted under the FlexRay protocol (FRP) that integrates both time-driven (static) and event-driven (dynamic) scheduling characteristics. By fully analyzing the situation of static and dynamic scheduling, a unified compensation strategy is employed to build a new switching output model reflecting the impact of the FRP on the measured outputs. Based on this output model, a sampling-mode-dependent fuzzy controller is designed to handle random sampling and hybrid scheduling issues, which results in a membership asynchronous phenomenon between the autonomous vehicle model and controller. By using the asynchronous constraint technique, sufficient conditions with low conservatism are derived to guarantee stochastic stability and $H_{\infty }$ performance of the closed-loop system. Furthermore, a comprehensive optimization problem (OP) is established, and a corresponding genetic algorithm (GA) is presented to provide a solution-solving scheme. Simulation results confirm the effectiveness and superiority of the proposed control strategy under complex communication environments.