考虑前后方车辆行驶状态的ACC系统控制方法*

doi:10.19562/j.chinasae.qcgc.2019.08.002

汽车工程 ›› 2019, Vol. 41 ›› Issue (8): 865-871.doi: 10.19562/j.chinasae.qcgc.2019.08.002

考虑前后方车辆行驶状态的ACC系统控制方法^*

李亚勇¹, 蔡英凤², 陈龙², 孙晓强², 何友国¹, 张云顺²

1.江苏大学汽车与交通工程学院,镇江 212013;
2.江苏大学汽车工程研究院,镇江 212013

收稿日期:2018-08-31 出版日期:2019-08-25 发布日期:2019-09-03
通讯作者: 陈龙,教授,博士,E-mail:chenlong@ujs.edu.cn
基金资助:
国家重点研发计划(2017YFB0102603)、国家自然科学基金(U1564201,U1664258,U1764257,U1762264,51875255,61601203,61773184)、江苏省自然科学基金(BK20180100)、江苏省重点研发计划(BE2016149)、江苏省六大人才高峰项目(2018-TD-GDZB-022)和江苏省战略性新兴产业发展重大专项(苏发改高技发(2016)1094号、(2015)1084号)

ACC Method Considering Driving State of Front and Rear Vehicles

Li Yayong¹, Cai Yingfeng², Chen Long², Sun Xiaoqiang², He Youguo¹, Zhang Yunshun²

1.Institute of Automotive and Transportation Engineering, Jiangsu University, Zhenjiang 212013;
2.Institute of Automotive Engineering, Jiangsu University, Zhenjiang 212013

Received:2018-08-31 Online:2019-08-25 Published:2019-09-03

摘要/Abstract

摘要： 为提高车辆的通行效率和道路利用率,在拥挤工况下,将新型人工势场应用到车辆的智能控制中。把前后两辆车看做两个势场中心,设计了一种车辆控制系统,使车辆在车流中实行车辆跟随时,考虑前后方车辆的位置和速度后,自动寻找最佳跟车距离。通过对人工势场和车辆控制的研究,采用新型人工势场函数和3自由度汽车动力学模型构建基于误差预瞄的车辆控制数学模型,将其应用到单个或多个车辆的控制中,使车辆能在拥挤工况下根据前后车的相对位置和速度自动调节车距。通过仿真得到控制车辆各行驶参数和所受势场合力的时间历程图,验证了所提出ACC控制方法的有效性。

关键词: 交通工程, 自适应巡航控制, 纵向控制, 人工势场, 人工智能驾驶

Abstract: In order to enhance traffic efficiency and road utilization ratio, a new artificial potential field is applied to the intelligent control of vehicles under congestion conditions. The both front and rear vehicles are regarded as the centers of two potential fields and a vehicle control system is designed to enable the vehicle to automatically find the best following distance according to the positions and speeds of front and rear vehicles. Based on the research of artificial potential field and vehicle control, a new artificial potential field function and a 3 DOF vehicle dynamics model are used to construct an error preview-based mathematical model for vehicle control, which is then applied to the control of single or multiple vehicles, to achieve automatical adjustment of the distance between vehicles according to the positions and speeds of front and rear vehicles. The time histories of the operation parameters and the resulting force in artificial potential field of vehicle are obtained by simulation, verifying the effectiveness of adaptive cruise control scheme proposed

Key words: traffic engineering, adaptive cruise control (ACC), longitudinal control, artificial potential field, artificial intelligent driving

李亚勇, 蔡英凤, 陈龙, 孙晓强, 何友国, 张云顺. 考虑前后方车辆行驶状态的ACC系统控制方法^*[J]. 汽车工程, 2019, 41(8): 865-871.

Li Yayong, Cai Yingfeng, Chen Long, Sun Xiaoqiang, He Youguo, Zhang Yunshun. ACC Method Considering Driving State of Front and Rear Vehicles[J]. Automotive Engineering, 2019, 41(8): 865-871.

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考虑前后方车辆行驶状态的ACC系统控制方法^*

ACC Method Considering Driving State of Front and Rear Vehicles

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