前车目标丢失弯道自适应巡航控制策略研究

doi:10.19562/j.chinasae.qcgc.2023.10.005

Abstract

Abstract:

For the economic and safety problems of vehicle curve adaptive cruise when the target in front is lost， a curve adaptive cruise strategy under multiple constraints is proposed in this paper. Firstly， the engine fuel consumption model and vehicle longitudinal dynamics model are established， considering the constraints of road curve curvature， and the optimal cruising speed of curves is planned based on the dynamic programming algorithm. Then， taking economy and safety as the target， the adaptive cruise longitudinal controller and transverse controller are designed by the PID algorithm and MPC algorithm， respectively. Finally， a joint simulation platform of CarSim and Simulink is built and simulation analysis is carried out. Based on ROS trolley， experimental verification is carried out， and the results show that the control method proposed in this paper has good economy and robustness.

Key words: multiple constraints, corners, adaptive cruise, economical speed, longitudinal controller, lateral controller

Qilin Wu,Xiaoyu Mu,Mingming Qiu,Yating Zhao. Research on Adaptive Cruise Control Strategy of Target Loss Curve in Front[J].Automotive Engineering, 2023, 45(10): 1824-1832.

Figures/Tables 15

参数	符号	数值
整车质量	$m$	1 510 kg
质心到前轴的距离	$a$	1 050 mm
质心到后轴的距离	$b$	1 550 mm
质心高度	$H g$	650 mm
车轮轮距	$B$	1 565 mm
主减速比	$i g$	4.1
迎风面积	$A$	2.5 m²
空气阻力系数	$C d$	0.342
空气密度	$ρ$	1.206 kg·m^-3
滚动阻力系数	$f$	0.02
路面附着系数	$μ$	0.85
发动机额定功率	$P$	150 kW
发动机额定转矩	$T$	312 N·m

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Research on Adaptive Cruise Control Strategy of Target Loss Curve in Front

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