智能车辆速度跟随控制算法的仿真研究  

Simulation of Speed Tracking Control Algorithm for Intelligent Vehicle

作　　者：秦加合[1] 付锐[2,1] 张名芳[1] 郭应时[1] 

机构地区：[1]长安大学汽车学院,西安710064 [2]长安大学汽车运输安全保障技术交通行业重点实验室,西安710064

出　　处：《科学技术与工程》2013年第14期3912-3916,共5页Science Technology and Engineering

基　　金：国家自然科学基金项目(51178053;50678027);十一五国家科技支撑计划项目(2009BAG13A05)资助

摘　　要：针对汽车动力学速度控制的强非线性特性,基于预瞄-跟随理论,建立了车辆速度控制过程中的速度跟随运动模型;并提出了智能车辆速度跟随的控制算法。在PreScan和matlab/simulink的联合仿真中,实现了车辆的速度跟随控制;并对速度变化过程中速度跟随控制算法的性能进行了仿真验证。结果表明,车辆基本可以跟随参考速度行驶,并且可以实现自动减速停车。Aiming at strong nonlinear characteristics of vehicle dynamics control, preview-follower method was used to establish speed tracking movement in the vehicle speed control process, and speed tracking control algorithm of intelligent vehicle was bring forward. Speed tracking control was implemented in the unite simulation condition of PreScan and matlab/simulink, and the performance of speed tracking control algorithm was verified in the speed change process. Simulation results show that vehicle can basically track the reference speed driving and automatical- ly slow down and stop.

关 键 词：速度控制 速度跟随 预瞄-跟随理论 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]