汽车ACC系统算法仿真研究

doi:10.3969/j.issn.1674-0696.2017.09.20

摘要/Abstract

摘要： 巡航车辆的跟随特性和安全车距控制是ACC控制系统算法的核心。ACC算法采用分层式控制结构，以线性二次型算法为上层控制器核心，根据传感器测得车辆信息进行运算，通过间距控制策略和控制算法得到期望加、减速度；下层控制器以逆车辆动力学为基础，以MATLAB为平台建立节气门和制动力控制模型，得到期望节气门开度和制动力，实现车辆加速、减速运动控制。通过MATLAB和CarSim联合仿真方式进行仿真实验，对经典线性二次型算法、改进线性二次型算法、综合线性二次型算法3种算法的间距策略进行仿真研究对比。对比3种算法的优缺点，并进行“走-停”工况进行验证。实验结果表明：改进后的算法更适合车辆自适应巡航特点，具有良好的平顺性与安全性，尤其较紧急制动工况下，停车平稳，提高了乘员舒适性与安全性。

关键词: 车辆工程, 汽车ACC, 线性二次型控制算法, 仿真实验, 车辆安全

Abstract: The following characteristics of cruise vehicle and the control of vehicle safety distance are the core of the control system ACC algorithm. ACC algorithm adopted a hierarchical control structure, in which linear quadratic algorithm was taken as the core of the upper controller, and the calculation on the vehicle information measured by sensors was carried out; the expected acceleration and deceleration was obtained through the spacing control strategy and control algorithm; the lower controller was based on inverse dynamics of vehicle, and throttle valve and braking force control model were established on the MATLAB platform. Therefore, the expected throttle valve opening and braking force were obtained, which realized the control of vehicle acceleration and deceleration. Through the combined simulation experiments of MATLAB and CarSim, the comparative simulation research on the spacing strategy among the classical linear quadratic algorithm, the improved linear quadratic algorithm, comprehensive linear quadratic algorithm was carried out. The advantages and disadvantages of the three algorithms were compared and then verified by go-stop condition. The experiment results show that the improved algorithm is more suitable for the characteristics of the vehicle adaptive cruise, with good ride comfort and safety; particularly under emergency braking conditions, parking is steady, which improves occupant’s comfort and safety.

Key words: vehicle engineering, vehicle adaptive cruise control system, LQR (linear quadratic algorithm) control algorithm, simulation experiment, vehicle safety

中图分类号:

U270

熊坚，王秀圣，刘丁. 汽车ACC系统算法仿真研究[J]. 重庆交通大学学报（自然科学版）, 2017, 36(9): 108-114.

XIONG Jian, WANG Xiusheng, LIU Ding. Simulation of Vehicle ACC System Algorithm[J]. Journal of Chongqing Jiaotong University(Natural Science), 2017, 36(9): 108-114.

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