摘要
为了提高复杂工况下特别是低附着路面工况下车辆自适应巡航控制(Adaptive cruise control,ACC)的安全问题,该文提出基于路面附着实时估计的ACC控制方案。基于模型预测控制(Model predictive control,MPC)设计了ACC控制器,通过实时滚动优化计算得到期望的加减速度值。基于递推最小二乘法设计路面附着系数实时估计策略,根据实时估计的路面附着情况确定MPC控制器中的加减速度极限约束条件。基于Lagrangian方法建立了四自由度的非线性纵向车辆动力学模型,作为ACC控制系统的车辆仿真模型,得到了车辆在高、低不同附着路面上行驶的安全情况。仿真结果表明:基于路面附着系数实时估计的ACC控制方案在各种路面条件下都能确保前、后两车之间保持期望的车间距离安全行驶。
In order to improve the safety of vehicle adaptive cruise control(ACC)under the complicated driving conditions,especially under low-adhesion road conditions,an ACC control scheme based on real-time estimation of road adhesion is proposed.The ACC controller is designed based on the model predictive control(MPC)method where a receding-horizon approach is utilized to compute the desired vehicle acceleration.The real-time estimation of road adhesion coefficient is accomplished by the recursive least square method.A four-degree-of-freedom(4-DOF)longitudinal nonlinear vehicle model is established based on the Lagrangian approach to form the ACC simulation model.The safety of the proposed ACC scheme is evaluated by simulations respectively in the high and low adhesion conditions.The results reveal that by the proposed adhesion-estimation based ACC system can keep the desired following distance in a wide range of road adhesion conditions.
作者
杨秀建
李金雨
张昆
廖涛
Yang Xiujian;Li Jinyu;Zhang Kun;Liao Tao(Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,China)
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2018年第4期466-473,共8页
Journal of Nanjing University of Science and Technology
关键词
自适应巡航控制
路面附着系数估计
最小二乘法
车辆动力学
模型预测控制
adaptive cruise control
adhesive coefficent estimation
least square method
vehicle dynamics
model predictive control
