汽车工程

汽车工程 ›› 2018, Vol. 40 ›› Issue (5): 547-553.doi: 10.19562/j.chinasae.qcgc.2018.05.008

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车辆自适应巡航控制系统的建模与分层控制

  

  • 出版日期:2018-05-25 发布日期:2018-05-25

Modeling and Hierarchical Control of Vehicle ACC System

  • Online:2018-05-25 Published:2018-05-25

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摘要： 为改善车辆自适应巡航控制（ACC）系统的功能，本文中研究一种ACC系统建模和分层控制方法。首先建立考虑纵向、侧向和垂向耦合特性的14自由度整车模型，并根据电子节气门和制动器的实际物理特性建立能准确跟踪期望输入的执行器模型。接着建立包含驱动/制动切换逻辑、发动机逆模型和制动器逆模型的车辆逆动力学模型。最后针对ACC系统的功能需求，应用模型匹配控制理论设计能适应不同工况的鲁棒下层控制器，而上层控制器则通过线性二次最优控制理论获得综合考虑车距、相对速度和自车加速度的期望跟车加速度。仿真结果表明，该ACC系统能使车辆在加速行驶、稳态跟车和制动减速等行驶工况下保持良好的跟踪性和自适应性。

关键词: 自适应巡航系统, 整车动力学建模, 分层控制, 鲁棒控制, 线性二次最优控制

Abstract: In order to improve the function of adaptive cruise control (ACC) system, a modeling and hierarchical control method for ACC system is investigated in this paper. Firstly, a 14 DOF vehicle dynamics model is established with considerations of longitudinal, lateral and vertical coupling characteristics, and according to the physical characteristics of electronic throttle and brake system，an actuator model, which can accurately track the desired input，is also built. Then an inverse dynamics model is set up, which includes drive / brake switching logic, inverse engine model and inverse brake model. Finally aiming at the functional requirements of ACC system, the robust lowerlayer controller accommodating different working conditions is designed by applying model matching control theory, while the upperlayer controller can get the desired vehicle following acceleration, comprehensively considering vehicle distance, relative velocity and ego vehicle acceleration based on linear quadratic optimal control theory. Simulation results show that the ACC system can make vehicle maintain good tracking and adaptive performance in different driving conditions covering acceleration, steady following and deceleration.

Key words: ACC system, vehicle dynamics modeling, hierarchical control, robust control, linear quadratic optimal control