摘要
智轨电车在城市复杂交通路况中若实现纵向自动驾驶,会存在因车辆不定时地起-停而引起的驾驶员接管车辆次数增加、接管不及时等问题,可能会导致道路拥堵甚至引发交通事故。为此,文章提出一种智轨电车纵向速度控制策略,其采用分层控制方法进行纵向速度自适应控制;建立了智轨车辆动力学模型;并通过dSPACE硬件在环仿真平台验证了所设计控制器的控制性能。分析仿真结果表明,采用该控制策略能实现智轨电车在复杂交通环境下的纵向控制起-停功能,且算法鲁棒性较好。
If autonomous-rail rapid tram achieves longitudinal automatic driving in complex urban traffic conditions,there will be problems such as increased number of driver takeovers and untimely takeovers caused by vehicles going and stopping at irregular intervals,which may lead to road congestion and even traffic accidents.To this end,this paper proposes an adaptive control strategy for the longitudinal speed of autonomous-rail rapid tram,establishes a dynamics model of autonomous-rail rapid tram,and verifies the control performance of the designed controller by a dSPACE hardware-in-the-loop simulation platform.Analysis and simulation results show that the control strategy can realize the longitudinal control go-stop function of autonomous-rail rapid tram in complex traffic environment,and the algorithm has better robustness.
作者
张乾
张沙
王斌
袁希文
ZHANG Qian;ZHANG Sha;WANG Bin;YUAN Xiwen(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China)
出处
《控制与信息技术》
2021年第6期23-29,共7页
CONTROL AND INFORMATION TECHNOLOGY
关键词
自适应巡航控制
纵向速度控制
起-停功能
硬件在环
智轨电车
adaptive cruise control(ACC)
longitudinal speed control
go-stop function
hardware-in-the-loop(HIL)
autonomous-rail rapid tram
