[1]杨秀建,李金雨,张 昆,等.基于路面附着系数估计的车辆自适应巡航控制研究[J].南京理工大学学报(自然科学版),2018,42(04):466.[doi:10.14177/j.cnki.32-1397n.2018.42.04.012]
 Yang Xiujian,Li Jinyu,Zhang Kun,et al.Vehicular adaptive cruise control based on road adhesivecoefficient estimation[J].Journal of Nanjing University of Science and Technology,2018,42(04):466.[doi:10.14177/j.cnki.32-1397n.2018.42.04.012]
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基于路面附着系数估计的车辆自适应巡航控制研究()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
42卷
期数:
2018年04期
页码:
466
栏目:
出版日期:
2018-08-30

文章信息/Info

Title:
Vehicular adaptive cruise control based on road adhesivecoefficient estimation
文章编号:
1005-9830(2018)04-0466-08
作者:
杨秀建李金雨张 昆廖 涛
昆明理工大学 交通工程学院,云南 昆明 650500
Author(s):
Yang XiujianLi JinyuZhang KunLiao Tao
Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,China
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
Keywords:
adaptive cruise control adhesive coefficent estimation least square method vehicle dynamics model predictive control
分类号:
U461.91
DOI:
10.14177/j.cnki.32-1397n.2018.42.04.012
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。
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-12-18 修回日期:2018-07-04
作者简介:杨秀建(1980-),男,博士,教授,主要研究方向:车辆系统动力学与控制,E-mail:yangxiujian2013@163.com;
通讯作者:李金雨(1994-),男,硕士生,主要研究方向:车辆系统动力学与控制,E-mail:849625805@qq.com。
引文格式:杨秀建,李金雨,张昆,等. 基于路面附着系数估计的车辆自适应巡航控制研究[J]. 南京理工大学学报,2018,42(4):466-473. 投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2018-08-30