摘要
为减轻驾驶疲劳,降低追尾事故的危险,提出了一种自适应巡航分层控制算法。在上层控制中,设计了基于驾驶员跟车特性的车距保持算法,可根据不同工况平稳过渡至相应的控制模式;在下层控制中,分别设计了前馈加反馈的节气门控制器和制动控制器。通过试验构建了经验查值图,避免了繁琐的系统参数辨识,并基于切换加速度门限进行了控制器间的有效切换。最后通过前车并线和紧急减速试验对上述控制算法进行实车验证。结果表明,所设计的自适应巡航控制系统能有效降低驾驶员的操作强度,改善了跟车工况的主动安全性。
To mitigate driving fatigue and reduce the risk of rear-end collision accidents, a layered algorithm for adaptive cruise control is proposed. In upper layer, a safe headway maintenance algorithm is devised based on driver＇s car-following characteristics, enabling the smooth switching of control modes according to different working conditions; while in bottom layer, a throttle controller and a brake controller are designed respectively with feed- forward and feedback control. The empirical look-up charts are created based on tests for avoiding troublesome sys- tem parameter identification, and the effective switching between controllers is achieved based on thresholds of switching acceleration. Finally tests of the sudden cut-in and emergent deceleration of front vehicle are performed to verify above control algorithm. The results show that, the developed ACC system can relieve driver＇s workload effectively with the active safety in vehicle-following condition improved.
出处
《汽车工程》
EI
CSCD
北大核心
2013年第4期375-380,共6页
Automotive Engineering
基金
国家自然科学基金项目(51005019)
总装预研基金项目(40401040302)资助
