基于自适应采样时间MPC的自动紧急制动系统

doi:10.19562/j.chinasae.qcgc.2023.01.004

Abstract

Abstract:

In this paper， a multi-objective MPC control strategy is proposed to solve the problems of lack of comfort consideration and poor control accuracy in the control process of traditional AEB system. Firstly， the emergency coefficients of the scenarios are calculated by introducing in the fuzzy rules， and an adaptive MPC controller is designed based on the fuzzy rules. Then the lower controller is designed by using the PID feedback control and inverse engine model. Finally， the simulation test is carried out through PreScan and Simulink joint platform. The results show that the AEB system based on the proposed strategy can successfully avoid collision under two typical scenarios and various working conditions， with the acceleration change rate always in the comfort range. The final distance between the two vehicles is 1.74~4.18 m， which can ensure the comfort and effectiveness of the vehicle during the automatic emergency braking process.

Key words: automatic emergency braking system, MPC, fuzzy control, comfort

Yongtao Liu,Chuanpan Liu,Xiangan Liu,Yisong Chen,Jie Qiao. Automatic Emergency Braking System Based on Model Predictive Control with Adaptive Sampling Time[J].Automotive Engineering, 2023, 45(1): 32-41.

Figures/Tables 12

参数	数值
整车质量 $M$ / $k g$	1 650
转动惯量 $J z z$ 、 $J y y$ 、 $J x x$ / $(k g ? m 2)$	3 269、2 884、173
质心距前轴距离 $a$ / $m$	1.16
质心距后轴距离 $b$ / $m$	1.74
轴距 $l$ / $m$	2.9
车宽 $w$ / $m$	1.548
质心高度 $h$ / $m$	0.71
轮胎半径 $R w$ / $m$	0.32
最大制动力 $P b m$ /MPa	15
空气阻力系数 $C w$	0.33

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紧急系数		TTC/s
紧急系数		NB	NS	ZO	PS	PB
相对距离/m	NB	PB	PB	PB	PS	PS
	NS	PB	PB	PS	PS	PS
	ZO	PS	PS	ZO	NS	NB
	PS	NS	NS	NS	NB	NB
	PB	NS	NS	NB	NB	NB

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Automatic Emergency Braking System Based on Model Predictive Control with Adaptive Sampling Time

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Figures/Tables 12

References 23

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场景	本车速度/（km·h^-1）	前车速度/（km·h^-1）	初始间距/m
CCRs	20	0	50
	30	0	50
	40	0	50
CCRm	30	20	50
	40	20	50
	50	20	50