汽车自适应巡航线性参变间距控制算法

doi:10.13229/j.cnki.jdxbgxb201604002

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 1023-1029.doi: 10.13229/j.cnki.jdxbgxb201604002

汽车自适应巡航线性参变间距控制算法

高振海¹, 严伟¹, 李红建², 王大志³, 王林³

1.吉林大学汽车仿真与控制国家重点实验室,长春 130022;
2.中国第一汽车集团公司技术中心,长春 130011;
3.上海汽车集团股份有限公司安全工程与虚拟技术部,上海 200041

收稿日期:2015-05-12 出版日期:2016-07-20 发布日期:2016-07-20
作者简介:高振海(1973-),男,教授,博士生导师.研究方向:车辆动力学控制,驾驶员操作行为及智能交通系统.E-mail:gaozh@jlu.edu.cn
基金资助:
吉林省科技引导计划项目(20130413058GH); 上海市科学技术委员会项目(13QB1402300); 高等学校博士学科点专项科研基金项目(20120061110028)

Design of linear parametrically varying headway control algorithm for ACC vehicles

GAO Zhen-hai¹, YAN Wei¹, LI Hong-jian², WANG Da-zhi³, WANG Lin³

1.State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;
2.Research and Development Center, China FAW Group Corporation,Changchun 130011,China;
3.Department of Safefy Engineering & Virtual Technology, SAIC Motor Corporation Limited, Shanghai 200041,China

Received:2015-05-12 Online:2016-07-20 Published:2016-07-20

摘要/Abstract

摘要： 为满足驾驶员对汽车自适应巡航控制系统的个性化安全车间距设计的需求,采用H_∞理论设计了线性参变间距控制算法。考虑到驾驶员自主设定车头时距带来的控制系统动态不确定性问题,采用线性参变模型描述本车与前车间的相对运动学特性,并通过加速度限值抑制了控制输入饱和且改善了乘坐舒适性。基于H_∞控制理论并根据时距动态变化实现了对控制器参数的实时调整和汽车纵向动力学的非线性控制。典型仿真工况及其与动态面控制算法的性能对比性分析表明,本文算法可实现驾驶员对车头时距的个性化设定,同时也避免了时距和车辆状态离散变化甚至跳变带来的瞬态跟随性能恶化。

关键词: 车辆工程, 自适应巡航控制, 车头时距模型, 线性参变间距控制, 控制输入饱和, 驾驶员

Abstract: An individual linear parametrically varying headway control algorithm is designed based on H_∞ concept for Adaptive Cruise Control (ACC) systems. The relative kinematics between the host vehicle and the preceding vehicle is represented using a linear parametrically varying model considering the uncertainty owing to the time gap set by drivers dynamically. The longitudinal acceleration is restrained under control input saturation and the passenger comfort is improved。 Furthermore, the controller gains are tuned in real time according to the dynamic time gap based on H_∞ concept and the nonlinear longitudinal dynamics controller is designed. Finally, the designed algorithm is validated under a typical condition and compared with the existing Dynamic Surface Controller (DSC). The results show that the individual setting of the time gap is achieved via the linear parametrically varying headway control algorithm, the deterioration of transient following performance for the sake of discrete variation of the time gap and automotive states is avoided.

Key words: vehicle engineering, adaptive cruise control, constant time headway model, linear parametrically varying headway control, control input saturation, driver

中图分类号:

U461

高振海, 严伟, 李红建, 王大志, 王林. 汽车自适应巡航线性参变间距控制算法[J]. 吉林大学学报(工学版), 2016, 46(4): 1023-1029.

GAO Zhen-hai, YAN Wei, LI Hong-jian, WANG Da-zhi, WANG Lin. Design of linear parametrically varying headway control algorithm for ACC vehicles[J]. 吉林大学学报(工学版), 2016, 46(4): 1023-1029.

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汽车自适应巡航线性参变间距控制算法

Design of linear parametrically varying headway control algorithm for ACC vehicles

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