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时间:2019-05-22
《基于模拟驾驶员多目标决策的汽车自适应巡航控制算法》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、学兔兔www.xuetutu.com汽车工程2015年(第37卷)第6期AutomotiveEngineering2015(Vo1.37)No.62015118基于模拟驾驶员多目标决策的汽车自适应巡航控制算法:l=高振海,严伟,李红建。,胡振程(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)[摘要]汽车自适应巡航控制系统根据本车与前车之间的相对距离和相对速度,综合考虑车间行驶安全性、本车纵向动力学特性和驾乘人员的舒适性等多个相互关联且存在一定矛盾的性能指标,实现本车与前车安全车间距的保持控制。针对这一多目标协调
2、控制问题,本文在动态输出反馈控制框架下,模拟真实驾驶员对车间距控制的行为特性,利用汽车行驶状态和控制变量建立了安全性、轻便性、舒适性和工效性指标,进而基于不变集和二次有界性理论提出了以上多性能指标的动态协调控制机制,建立了一套自适应巡航控制系统的车间距控制算法。最终通过跟随、驶离和切人3种典型工况的仿真,验证了算法对安全车间距保持和协调多性能指标的可行性和有效性。关键词:自适应巡航;车间距控制i多目标协调;控制约束;二次有界性AVehicleAdaptiveCruiseControlAlgorithmBasedonSimulatingDriver’SMulti—objectiv
3、eDecisionMakingGaoZhenhai,YanWei,LiHongjian&HuZhencheng1.JilinUniversity,StateKeyLaboratoryofAutomobileSimulationandControl,Changchun1300222.China朋GroupCorporationR&DCenter.Changchun130011[Abstract]Accordingtothedistanceandrelativevelocitybetweenhostvehicleandprecedingvehicle,theadaptivecrui
4、secontrol(ACC)systemconcurrentlyconsidersthreecorrelatedandcontradictoryperformanceindica—torsofdrivingsafetybetweenvehicles,longitudinaldynamicscharacteristicsandthecomfortperformanceofdriverandoccupantstoachievethecontrolformaintainingsafeinter—vehicledistance.Aimingatthismulti—objectiveco
5、ot-dinatedcontrolproblem,thebehaviorcharacteristicsofrealdriverininter—vehicledistancecontrolaresimulatedan-dertheframeworkofdynamicoutputfeedbackcontrolandfourindicatorsofsafety,handiness,comfortandefficien-cyaresetupbasedonthedrivingstateandcontrolvariablesofvehicle.Thenadynamiccoordinated
6、controlmecha—nismforabove--mentionedperformanceindicatorsisproposedbasedoninvariantsetandquadraticboundednesstheo--ryandasetofinter—vehicledistancecontrolalgorithmsforACCsystemareworkedout.Finallysimulationsonthreetypicaloperationconditions(followingandthecut—outandcut—inofprecedingvehicle)a
7、reconductedtoverifythefeasibilityandeffectivenessoftheproposedalgorithmsinsafeinter-·vehicledistancemaintenanceandmulti·-perform--aneeindicatorscoordination.Keywords:ACC;inter-vehicledistancecontrol;multi—objectivecoordination;controlconstraint;qua
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