分布式电驱动车辆的ACC协同控制  

Coordinated Control for Adaptive Cruise Control System of Distributed Drive Electric Vehicles

作　　者：解来卿[1,2] 罗禹贡 李升波[1] 李克强[1] Xie Laiqing;Luo Yugong;Li Shengbo;Li Keqiang(Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing 100084;Army Universal Armament Research Institute of PLA,Beijing 102202)

机构地区：[1]清华大学,汽车安全与节能国家重点实验室,北京100084 [2]中国人民解放军陆军研究院通用装备研究所,北京102202

出　　处：《汽车工程》2018年第6期652-658,665,共8页Automotive Engineering

基　　金：国家重点研发计划(2016YFB0100905); 国家自然科学基金重点项目(U1564208)资助

摘　　要：针对智能分布式电驱动车辆在纵向跟车运动中实施多性能目标协同控制的必要性和实时性问题,在分析分布式电驱动车辆结构与纵向动力学特性基础上,提出一种基于模型预测控制理论的自适应巡航控制算法,并采用缩减优化问题规模的方法,缩短单步计算时间,提升在线优化求解的运算效率。为验证算法有效性,搭建仿真平台,进行了相关的仿真和硬件在环试验。仿真和试验结果表明,所提出的控制算法能实现该车安全和节能的协同优化,且满足了控制实时性要求。In view of the necessity and real time performance of multi-objective performance coordinated control in the longitudinal following movement of intelligent distributed drive electric vehicle,an adaptive cruise control algorithm based on model predictive control theory is proposed on the basis of the analysis on the structure and longitudinal kinetics characteristics of distributed drive electric vehicle. A method of reducing the scale of optimization problem is adopted to shorten the computing time of single step,with the computational efficiency enhanced in on-line optimization. For verifying the effectiveness of the algorithm,simulation platform is constructed and relevant simulation and hardware-in-the-loop test are carried out. The results of both simulation and test indicate that the algorithm proposed can achieve coordinated optimization of both safety and energy saving of that vehicle,and meet the requirements for real time control.

关 键 词：分布式电驱动车辆 模型预测控制 自适应巡航 运算效率 

分 类 号：U463.6[机械工程—车辆工程]