|Table of Contents|

Vehicular adaptive cruise control based on road adhesivecoefficient estimation(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2018年04期
Page:
466-
Research Field:
Publishing date:

Info

Title:
Vehicular adaptive cruise control based on road adhesivecoefficient estimation
Author(s):
Yang XiujianLi JinyuZhang KunLiao Tao
Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,China
Keywords:
adaptive cruise control adhesive coefficent estimation least square method vehicle dynamics model predictive control
PACS:
U461.91
DOI:
10.14177/j.cnki.32-1397n.2018.42.04.012
Abstract:
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.

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Last Update: 2018-08-30