基于并线行为识别的自适应巡航控制方法

doi:10.19562/j.chinasae.qcgc.2021.07.015

Abstract

Abstract:

In view of the uncertainty of braking intervention timing for the conventional adaptive cruise control system under side?car merging condition， an adaptive cruise control strategy is proposed which is optimized based on side car merging behavior. Firstly， with the historical driving data and surrounding environment as inputs and based on long short?term memory network， a driving behavior recognition model is set up to fulfill the effective recognition of the driving behavior category of side?lane vehicles. Once the merging behavior is recognized， an acceleration control is applied to the adaptive cruise system according to the motion state of merging vehicle， with a predictive control model for the system established. Then tracking performance， ride comfort and fuel consumption three performance indicators and constraint conditions are determined， and the desired acceleration is solved out by using the utopia point method， effectively avoiding the interference of manually selected weighting factors. Next， the first element of optimal control sequence is acting on the system for evaluating the system state information to achieve rolling optimization. Finally， a simulation model is established with MATLAB/Simulink to conduct a comparative simulation on three conditions of constant?speed cruising， vehicle tracking driving and merging， with real vehicle test performed for verification. The results show that the algorithm proposed can response to the change of tracked target faster in side car merging， effectively reduce the speed fluctuation and avoid the most of vehicle emergent braking， while the control model adopted with consideration of merging driving characteristics can enhance the ride comfort and reduce the safety risk of vehicle.

Key words: adaptive cruise control, model predictive control, behavior recognition, multi?objective optimization

Yingfeng Cai,Lü Zhijun,Xiaoqiang Sun,Hai Wang,Qingchao Liu,Long Chen,Chaochun Yuan. An Adaptive Cruise Control Scheme Based on Merging Behavior Recognition[J].Automotive Engineering, 2021, 43(7): 1077-1087.

Figures/Tables 17

参数	数值
固定车间时距 $τ h / s$	1.5
最小安全距离 $d 0 / m$	5
采样周期 $T s / m s$	10
惯性环节时间常数 $τ L / s$	0.53
预测时步 $N p$	16
控制时步 $N c$	5
预瞄时间 $τ / s$	0.7
车间距误差的上界 $Δ d m a x / m$	30
车间距误差的下界 $Δ d m i n / m$	-10
车速误差的上界 $Δ v m a x / (m ? s - 1)$	5
车速误差的下界 $Δ v m i n / (m ? s - 1)$	-5
加速度的上界 $a E V m a x / (m ? s - 2)$	3
加速度的下界 $a E V m i n / (m ? s - 2)$	-3
控制量的上界 $u m a x / (m ? s - 2)$	3
控制量的下界 $u m i n / (m ? s - 2)$	-3
控制量增量的上界 $Δ u m a x / (m ? s - 2)$	2
控制量增量的下界 $Δ u m i n / (m ? s - 2)$	-2

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An Adaptive Cruise Control Scheme Based on Merging Behavior Recognition

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References 26

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