摘要
为了提高自适应巡航系统的鲁棒性和对复杂跟车环境的适用性,提出一种基于模型预测控制(model predictive control,MPC)的自适应巡航系统分层控制策略。上层控制策略主要考虑速度控制模式和距离控制模式之间的切换,下层控制策略则基于MPC理论而提出,确定汽车加速、减速或保持当前车速,以提升系统跟随性。在Carsim软件中选取有防抱死制动系统的C级掀背车,实时模拟两车(前车和本车)跟随的运行过程。在MATLAB/Simulink中建立纵向运动学模型,运用MPC控制策略对车辆的跟车工况进行联合仿真。结果表明,我们设计的MPC控制器与PID(proportional-integral-derivative,比例-积分-微分)控制器相比,在跟车工况下本车的加速度峰差值仅为1.65 m/s^2,加速度变化均值降低约23%,提高了驾驶的舒适性和行驶的稳定性;同时车间距误差范围控制在-0.5~7.3 m,均值误差降低约12%,在实际跟车环境中,能有效减少追尾、加塞等情况的发生。
To improve the robustness and applicability of the adaptive cruise control system under complex car following environments,a hierarchical control strategy was proposed for the adaptive cruise control system on the basis of model predictive control(MPC).The upper level control strategy mainly catered to the switching between speed control mode and distance control mode,while the lower control strategy was based on MPC theory,which determines whether the home car accelerates or decelerates,or maintains the current speed to enhence system following performance.The C-Class hatchback,equipped with anti-lock braking system,was selected in the Carsim software to simulate in real time the running process with two cars(front and home)following performance.The longitudinal dynamics model and the corresponding control strategy were established in MATLAB/Simulink,performing the co-simulation of the vehicle under car following conditions by virtue of MPC control strategy.Simulation results show that the peak acceleration difference between the designed MPC controller and the PID(proportional integral derivative)controller is only 1.65 m/s^2 under car following conditions of the vehicle,while the mean acceleration variation is reduced by approximately 23%,improving driving comfort and stability.Moreover,the following distance error range is controlled from-0.5 m to 7.3 m,while the mean error reduced by about 12%.Thus,in the actual car following environment,the probability of tailgating and congestion can be effectively lessened.
作者
刘文祥
李强
LIU Wenxiang;LI Qiang(School of Mechanical and Energy Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,Zhejiang,China)
出处
《浙江科技学院学报》
CAS
2020年第4期313-320,共8页
Journal of Zhejiang University of Science and Technology
基金
浙江省自然科学基金项目(LY13E050023)。
关键词
自适应巡航
模型预测控制
联合仿真
分层控制策略
adaptive cruise control
model predictive control
co-simulation
hierarchical control strategy
