智能车队跟车纵向控制算法设计及仿真验证  

Design of Longitudinal Control Algorithms for Intelligent Fleet Tracking and Simulation Verification

作　　者：叶心 魏劲鹏[1] 杨杰星 叶明 吕强 YE Xin;WEI Jingpeng;YANG Jiexing;YE Ming;LYU Qiang(College of Vehicle Engineering,Chongqing University of Technology,Chongqing 400054,China 2.Key Laboratory of Advanced Manufacturing and Test Technology for Automobile Parts of Ministry of Education,Chongqing University of Technology,Chongqing 400054,China;Chongqing Meiwan New Energy Automobile Technology Co.,Ltd.,Chongqing 401121,China)

机构地区：[1]重庆理工大学车辆工程学院,重庆400054 [2]重庆理工大学汽车零部件先进制造技术教育部重点实验室,重庆400054 [3]重庆美万新能源汽车科技有限公司,重庆401121

出　　处：《重庆理工大学学报（自然科学）》2019年第11期16-23,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市教委一般项目“基于蜂拥控制的智能混合动力汽车纵向控制理论研究”(KJ1709231)

摘　　要：为了解决智能车队自动跟随前方车辆行驶的问题,首先基于理论分析模型和车辆实验数据结合,建立智能车队行驶过程中纵向动力学模型。然后基于模糊智能控制算法,建立智能车队领航车驾驶员模型、车队跟随车辆跟车模型,最后通过Matlab/Simulink/Stateflow平台搭建数学模型。该模型简洁、准确,能满足车辆避撞和跟随的要求。通过仿真分析,验证了模型的正确性和合理性,可达到提高驾驶安全性、减少交通堵塞的目的。In order to solve the problem of intelligent fleet following the vehicle in front automatically,a longitudinal dynamic model of intelligent fleet driving process is established based on the combination of theoretical analysis model and vehicle experimental data.Then,based on the fuzzy intelligent control algorithm method,the driver model of intelligent fleet pilots and the following model of fleet vehicles are established.Finally,the mathematical model is built by the platform of Matlab/Simulink/Stateflow.The model is concise and accurate,and can meet the requirements of collision avoidance and following.Through simulation analysis,the correctness and rationality of the model are verified,so as to improve driving performance,and achieve the purpose of driving safety and reduce traffic jams.

关 键 词：智能车队 跟车控制 模糊智能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U116.2[自动化与计算机技术—控制科学与工程]