Optimal car-following control for intelligent vehicles using online road-slope approximation method  

作　　者：Hongqing CHU Lulu GUO Hong CHEN Bingzhao GAO 

机构地区：[1]State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun,130022,China [2]Center for Cyber-Physical systems,University of Georgia,Athens,Georgia,30602,USA [3]Clean Energy Automotive Engineering Center,Tongji University,Shanghai,201804,China

出　　处：《Science China(Information Sciences)》2021年第1期90-105,共16页中国科学（信息科学）（英文版）

基　　金：China Automobile Industry Innovation and Development Joint Fund(Grant Nos.U1664257,U1864206);National Natural Science Foundation of China(Grant No.61903153);Postdoctoral Science Foundation of China(Grant No.2018M641779)。

摘　　要：The design of a car-following control system is a multiobjective optimization problem that involves issues in rider safety,ride comfort,and fuel economy.This study proposes a hierarchical design of optimal car-following control where the system is intuitively split into two subsystems with different dynamic properties.Specifically,the high-level subsystem is a linear car-following system with a measurable disturbance of the preceding vehicle’s acceleration,while the low-level subsystem is a nonlinear accelerationtracking system with an unmeasurable road slope.In the design of optimal car-following control,the measurable disturbance of the preceding vehicle’s acceleration is considered from a theoretical perspective,and the unmeasurable road slope is estimated by a novel engineering-oriented approximation method to reduce the influence of driveline oscillation.The performance of the proposed optimal control scheme is evaluated through simulation and real-vehicle experiments,which show that the proposed control algorithm provides a satisfactory road-slope approximation accuracy and that the car-following performance of the proposed optimal control system is better than that of a factory-installed adaptive cruise controller.

关 键 词：car-following control road-slope approximation hierarchical design linear quadratic regulator intelligent vehicle 

分 类 号：O232[理学—运筹学与控制论] U463.6[理学—数学]