基于个性化间距策略的自适应巡航系统模式切换策略研究*

doi:10.19562/j.chinasae.qcgc.2020.10.002

摘要/Abstract

摘要： 本文中设计了一种基于个性化间距策略的自适应巡航系统多模式切换策略,以更好地适应实际驾驶工况并提高不同类型驾驶人的驾驶体验。首先,将ACC行驶模式划分为巡航、跟车、接管和换道4种工况,针对不同纵向工况,采用不同的间距策略,实现了稳定、可靠、适应驾驶人风格的工况间平滑切换。然后,通过两层分层控制策略实现自适应巡航系统多模式切换控制。最后,借助Matlab/Simulink与CarSim联合仿真开展巡航、跟车、接管、换道工况及混合切换工况试验。结果表明,设计的多模式切换控制策略效果良好,满足快速性、跟随性和舒适性的要求。

关键词: 自适应巡航系统, 模式划分, 间距策略, PID控制, MPC控制

Abstract: A multi-mode switching strategy of adaptive cruise control system based on personalized spacing strategy is designed in this paper to better adapt to the actual driving conditions, and to improve the driving experience of different types of drivers. Firstly, the ACC driving modes are divided into four working conditions including cruising, car following, takeover and lane change. According to different longitudinal working conditions, different spacing strategies adapted to personalized driving style are adopted to realize stable, reliable, and smooth switching between different working conditions. Then, the multi-mode switching control of adaptive cruise control system is realized by two-layer hierarchical control strategy. Finally, the tests of cruising, car following, taking over, lane change and mixed switching conditions are carried out with the joint simulation of Matlab / Simulink and CarSim. The results show that the designed multi-mode switching control strategy is effective and meets the requirements of rapidity, following performance and comfort

Key words: adaptive cruise control system, mode division, spacing strategy, PID control, MPC control

黄晶, 韦伟, 邹德飚. 基于个性化间距策略的自适应巡航系统模式切换策略研究^*[J]. 汽车工程, 2020, 42(10): 1302-1311.

Huang Jing, Wei Wei, Zou Debiao. Research on Multi-mode Switching Strategy of Adaptive Cruise Control System Based on Personalized Spacing Strategy[J]. Automotive Engineering, 2020, 42(10): 1302-1311.

参考文献

[1] GAO Z, WANG J, HU H, et al. Multi-argument control mode switching strategy for adaptive cruise control system[J]. Procedia engineering, 2016, 137: 581-589.
[2] GAO Z, WANG J, HU H, et al. Control mode switching strategy for ACC based on intuitionistic fuzzy set multi-attribute decision making method[J]. Journal of Intelligent & Fuzzy Systems, 2016, 31(6): 2967-2974.
[3] ONDO GAN A, YAVUZ H S. Fuzzy logic based adaptive cruise control for low-speed following[C]. 2019 3rd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT). IEEE, 2019: 1-5.
[4] DANG R, WANG J, LI S E, et al. Coordinated adaptive cruise control system with lane-change assistance[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(5): 2373-2383.
[5] MOSER D, SCHMIED R, WASCHL H, et al. Flexible spacing adaptive cruise control using stochastic model predictive control[J]. IEEE Transactions on Control Systems Technology, 2017, 26(1): 114-127.
[6] GAO Z, YAN W, LI H. Design of the time-gap-dependent robust headway control algorithm for ACC vehicles[J]. International journal of vehicle design, 2016, 70(4): 325-340.
[7] BAREKET Z, FANCHER P S, PENG H, et al. Methodology for assessing adaptive cruise control behavior[J]. IEEE Transactions on Intelligent Transportation Systems, 2003, 4(3): 123-131.
[8] 张德兆, 王建强, 刘佳熙, 等. 加速度连续型自适应巡航控制模式切换策略[J]. 清华大学学报(自然科学版), 2010 (8): 1277-1281.
ZHANG D, WANG J, LIU J, et al. Switching strategy for adaptive cruise control modes for continuous acceleration[J]. Journal of Tsinghua University(Science and Technology), 2010 (8): 1277- 1281.
[9] 严伟. 仿驾驶员速度跟随行为的自适应巡航控制算法研究[D].长春:吉林大学,2016.
YAN W. STUDY on adaptive cruise control algorithms imitating car-following behaviors of drivers[D]. Changchun:Jilin University,2016.
[10] 裴晓飞, 刘昭度, 马国成, 等. 汽车自适应巡航系统的多模式切换控制[J].机械工程学报,2012,48(10):96-102.
PEI X, LIU Z, MA G, et al. Multi-mode switching controller for vehicle adaptive cruise control system[J]. Journal of Mechanical Engineering,2012,48(10):96-102.
[11] WU D, ZHU B, TAN D, et al. Multi-objective optimization strategy of adaptive cruise control considering regenerative energy[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2019, 233(14): 3630- 3645.
[12] IOANNOU P A, CHIEN C C. Autonomous intelligent cruise control[J]. IEEE Transactions on Vehicular technology, 1993, 42(4): 657-672.
[13] 孙晓文, 汪洪波. 基于模式切换的汽车自适应巡航系统分层控制[J]. 合肥工业大学学报(自然科学版), 2016, 39(10): 1316-1321.
SUN X, WANG H. Research on hierarchical control of automobile adaptive cruise system based on mode switch[J]. Journal of Hefei University of Technology(Natural Science), 2016, 39(10): 1316-1321.
[14] 朱敏, 陈慧岩. 考虑车间反应时距的汽车自适应巡航控制策略[J]. 机械工程学报, 2017 (24): 144-150.
ZHU M, CHEN H. Strategy for vehicle adaptive cruise control considering the reaction headway[J]. Journal of Mechanical Engineering, 2017 (24): 144-150.
[15] DUAN S, ZHAO J. A model based on hierarchical safety distance algorithm for ACC control mode switching strategy[C]. 2017 2nd International Conference on Image, Vision and Computing (ICIVC). IEEE, 2017: 904-908.
[16] 袁朝春, 李道宇, 吴飞, 等. 汽车纵向主动避撞DRV安全距离模型[J].重庆理工大学学报(自然科学版),2016,30(5):15-19.
YUAN C, LI D, WU F, et al. Vehicle longitudinal active collision avoidance DRV safety distance model[J]. Journal of Chongqing University of Technology(Natural Science) ,2016,30(5):15-19.
[17] 刘贵如, 周鸣争, 王陆林, 等. 城市工况下最小安全车距控制模型和避撞算法[J].汽车工程,2016,38(10):1200-1205+1176.
LIU G, ZHOU M, WANG L, et al. Control model for minimum safe inter-vehicle distance and collision avoidance algorithm in urban traffic condition[J]. Automotive Engineering,2016,38(10):1200-1205+1176.
[18] 王畅, 付锐, 张琼, 等. 换道预警系统中参数TTC特性研究[J].中国公路学报,2015,28(8):91-100+108.
WANG C, FU R, ZHANG Q, et al. Research on parameter TTC characteristics of lane change warning system[J]. China Journal of Highway and Transport,2015,28(8):91-100+108.
[19] 胡远志, 杨喜存, 刘西, 等. 基于驾驶员特性的主动避撞分级制动策略与验证[J].汽车工程,2019,41(3):298-306.
HU Y, YANG X, LIU X, et al. Hierarchic braking strategy for active collision avoidance and its verification based on driver's characteristics[J]. Automotive Engineering,2019,41(3):298- 306.
[20] 刘志强, 张春雷, 张爱红, 等. 基于驾驶行为的追尾避撞控制策略研究[J].汽车工程,2017,39(9):1068-1073+1080.
LIU Z, ZHANG C, ZHANG A, et al. A study on the control strategy for rear-end collision avoidance based on drivers' behavior[J]. Automotive Engineering,2017,39(9):1068-1073+1080.
[21] SU C, DENG W, SUN H, et al. Forward collision avoidance systems considering driver's driving behavior recognized by Gaussian mixture model[C]. 2017 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2017: 535-540.
[22] 许伦辉, 罗强, 吴建伟, 等. 基于最小安全距离的车辆跟驰模型研究[J].公路交通科技,2010,27(10):95-100+106.
XV L, LUO Q, WU J, et al. Study of car-following model based on minimum safety distance[J]. Journal of Highway and Transportation Research and Development,2010,27(10):95-100+106.
[23] ZHU B, LIU Z, ZHAO J, et al. Driver behavior characteristics identification strategy for adaptive cruise control system with lane change assistance[C]. SAE Paper 2017-01-0432.
[24] 黄晶, 蓟仲勋, 彭晓燕, 等. 考虑驾驶人风格的换道轨迹规划与控制[J].中国公路学报,2019,32(6):226-239+247.
HUANG J, JI Z, PENG X, et al. Driving style adaptive lane-changing trajectory planning and control[J]. China Journal of Highway and Transport,2019,32(6):226-239+247.
[25] 余至生, 夏群生. 汽车理论[M].4版.北京:机械工业出版社,2007.
YU Z, XIA Q. Theory of automobile[M]. 4th ed.Beijing: China Machine Press,2007.
[26] 黄丽琼. 基于制动/转向的汽车主动避撞控制系统研究[D].南京:南京航空航天大学,2016.
HUANG L. Research on vehicle active collision avoidance control system based on longitudinal braking/steering lane-changing[D]. Nanjing:Nanjing University of Aeronautics and Astronautics,2016.
[27] 刘贺. 考虑驾驶员风格的汽车纵向控制策略研究[D].长沙:湖南大学,2018.
LIU H. Vehicle longitudinal control strategy designed with considerations of the driving style[D].Changsha:Hunan University,2018.
[28] 唐阳山, 夏道华. 不同驾驶员反应时间对汽车防撞安全距离的影响研究[J].科学技术与工程,2016,16(1):250-254.
TANG Y, XIA D. Study the influence of different driver’ s reaction time to the automobile anti-collision safety distance[J]. Science Technology and Engineering,2016,16(1):250-254.
[29] 胡林, 易平, 黄晶, 等. 基于真实事故案例的自动紧急制动系统两轮车测试场景研究[J].汽车工程,2018,40(12):1435-1446+1453.
HU L, YI P, HUANG J, et al. A research on test scenes of two-wheeled vehicles for automatic emergency braking system based on real accident cases[J]. Automotive Engineering,2018,40(12):1435-1446+1453.
[30] 张亮修, 吴光强, 郭晓晓. 车辆自适应巡航控制系统的建模与分层控制[J].汽车工程,2018,40(5):547-553.
ZHANG L, WU G, GUO X. Modeling and hierarchical control of vehicle ACC system[J]. Automotive Engineering, 2018,40(5):547-553.
[31] HASPALAMUTGl K, ADALI E. Adaptive switching method for adaptive cruise control[C]. 2017 21st International Conference on System Theory, Control and Computing (ICSTCC). IEEE, 2017: 140-145.
[32] 黄晶, 李勇, 胡林. 基于数据关联和改进统计模型的激光雷达目标跟踪研究[J].汽车工程,2018,40(3):356-362.
HUANG J, LI Y, HU L. A research on target tracking by ;LDAR based on data association and improved statistical model[J].Automotive Engineering,2018,40(3):356-362.
[33] 吴光强, 张亮修, 刘兆勇, 等. 汽车自适应巡航控制系统研究现状与发展趋势[J].同济大学学报(自然科学版),2017,45(4):544-553.
WU G, ZHANG L, LIU Z, et al. Research status and development trend of vehicle adaptive cruise control systems[J]. Journal of Tongji University(Natural Science), 2017,45(4):544-553.
[34] JIANG Y, DENG W, HE R, et al. Hierarchical framework for adaptive cruise control with model predictive control method[C]. SAE Paper 2017-01-1963.
[35] MUNIR U, JUNZHI Z. Weight changing model predictive controller for adaptive cruise control with multiple objectives[C]. 2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA). IEEE, 2018: 62-66.
[36] SAKHDARI B, VAJEDI M, AZAD N L. Ecological adaptive cruise control of a plug-in hybrid electric vehicle for urban driving[C]. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2016: 1739-1744.
[37] 张亮修, 吴光强, 郭晓晓. 车辆多目标自适应巡航控制算法[J].西安交通大学学报,2016,50(11):136-143.
ZHANG L, WU G, GUO X. Vehicular multi-objective adaptive cruise control algorithm[J]. Journal of Xi'an Jiaotong University,2016,50(11):136-143.
[38] LUO L, LIU H, LI P, et al. Model predictive control for adaptive cruise control with multi-objectives: comfort, fuel-economy, safety and car-following[J]. Journal of Zhejiang University Science A, 2010, 11(3): 191-201.

基于个性化间距策略的自适应巡航系统模式切换策略研究^*

Research on Multi-mode Switching Strategy of Adaptive Cruise Control System Based on Personalized Spacing Strategy

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

Metrics

本文评价

推荐阅读 10

[1]	郭祥靖,孙攀,邓杰,刘勇,刘壮,刘双平. 基于BP神经网络算法预测的重型半挂汽车列车AEB控制策略研究[J]. 汽车工程, 2021, 43(9): 1350-1359.
[2]	汪若尘, 魏振东, 叶青, 蔡英凤, 陈龙. 视觉预瞄式智能车辆纵横向协同控制研究[J]. 汽车工程, 2019, 41(7): 763-770.
[3]	高振海,孙天骏,何磊. 基于行驶场景模型的线控辅助转向系统仿真[J]. 汽车工程, 2018, 40(8): 960-966.
[4]	张亮修,吴光强,郭晓晓. 车辆自适应巡航控制系统的建模与分层控制[J]. 汽车工程, 2018, 40(5): 547-553.