基于模型预测控制的车辆纵向跟车模型分析  

Analysis on Vehicle Longitudinal Following Model Based on Model Predictive Control

作　　者：钟豪 贾瑞雪 ZHONG Hao;JIA Ruixue

机构地区：[1]重庆交通大学机电与车辆工程学院

出　　处：《汽车工程师》2020年第5期14-16,39,共4页Automotive Engineer

摘　　要：在保证ACC系统在跟踪模式下的平稳性与安全性的基础上,增加考虑行车舒适性。运用模型预测控制原理,引入输出综合白噪声干扰,建立ACC系统跟车模型,该模型可全面描述主车与前车状态变化规律,且具有足够的精度和可靠性;同时考虑两车相互纵向动力学关系,在Simulink软件中搭建跟车仿真模型。仿真结果表明:自车能稳定跟随前车,自车车速与加速度趋近前车,均保持在舒适范围,且车间距离大于设定的最小安全距离,满足安全性需求,达到跟车目的。On the basis of ensuring the stability and safety of ACC system in the following mode,the driving comfort is considered,the output comprehensive white noise interference is introduced,and the vehicle following model of ACC system is established by using the principle of model predictive control.The model can comprehensively describe the change law of the vehicle and the vehicle in front,and has sufficient accuracy and reliability.At the same time,the longitudinal dynamic relationship between the two vehicles is considered.The following simulation model is built in the Simulink software.The simulation results show that the self-car can follow the front car stably.The speed and acceleration of the self-car approach the front car and keep in the comfortable range.The distance between vehicles is greater than the minimum safety distance set,which meets the safety requirements and achieves the following purpose.

关 键 词：汽车 ACC系统 跟车模型 MPC控制 车间安全距离 

分 类 号：U463.6[机械工程—车辆工程]