• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (24): 144-150.doi: 10.3901/JME.2017.24.144

• 运载工程 • 上一篇    下一篇

考虑车间反应时距的汽车自适应巡航控制策略

朱敏1,2, 陈慧岩1   

  1. 1. 北京理工大学机械与车辆学院 北京 100081;
    2. 郑州宇通客车股份有限公司 郑州 450061
  • 收稿日期:2016-11-11 修回日期:2017-09-03 发布日期:2017-12-20
  • 通讯作者: 陈慧岩(通信作者),男,1961年出生,博士,教授,博士研究生导师。主要研究方向为智能车辆理论与技术、车辆自动变速理论与设计。E-mail:chen_h_y@263.net
  • 作者简介:朱敏,男,1986年出生,博士。主要研究方向为智能车辆理论与技术、车辆自动变速理论与设计。E-mail:zmhhxz@126.com
  • 基金资助:
    国家自然科学基金重点资助项目(91420203)。

Strategy for Vehicle Adaptive Cruise Control Considering the Reaction Headway

ZHU Min1,2, CHEN Huiyan1   

  1. 1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
    2. Zhengzhou Yutong Bus Co., Ltd., Zhengzhou 450061
  • Received:2016-11-11 Revised:2017-09-03 Published:2017-12-20

摘要: 通过引入车间反应时距的概念,使用单一控制算法实现汽车自适应巡航控制(Adaptive cruise control,ACC)。结合熟练驾驶员经验,使用车间反应时距定量描述自车何时对目标车辆做出反应,将ACC系统分为上位控制器和下位控制器,给出考虑车间反应时距的上位控制器架构,分别设计线性二次型调节器(Linear quadratic regulator,LQR)和模型预测控制器(Model predictive control,MPC),通过MATLAB/Simulink与CarSim联合仿真初步验证系统可行性,并以乘用车辆为试验平台在平直铺装路进行实车试验。仿真及实车试验结果表明:目标车辆信息跳变、目标车辆行驶速度超过自车驾驶员设定限速时,考虑车间反应时距的LQR或MPC控制器均能有效处理复杂交通环境信息,实现自车安全、舒适行驶,有效避免模式切换过程中车辆加速度突变,提升车内乘员乘车体验。

关键词: 车间反应时距, 模型预测控制, 线性二次型调节器, 自适应巡航控制

Abstract: A concept of reaction headway is introduced and a single control algorithm is used to realize adaptive cruise control (ACC). Combined with the experience of skilled driver, reaction headway is used to describe when the subject vehicle should react to the preceding vehicle. The proposed ACC system has an upper level controller and a lower level controller, the architecture of the upper level controller has considered the reaction headway, and the linear quadratic regulator (LQR) controller and model predictive control (MPC) controller has been designed, respectively. The feasibility of the system is verified by using co-simulation of MATLAB/Simulink and CarSim, and vehicle tests are carried out on a flat road. The results show that even the information of the preceding vehicle change suddenly, or the speed of the preceding vehicle exceeds the set speed of the subject vehicle diver, the proposed system can deal with the complicated traffic information effectively, safety and comfortable driving has been achieved. The sudden changes of accelerations have been avoided in the process of mode switching, and the ride experiences of the passengers have been enhanced.

Key words: adaptive cruise control, linear quadratic regulator, model predictive control, reaction headway

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