考虑驾驶员特性的智能车辆纵向车速跟随控制策略  

An Intelligent Vehicle Longitudinal Speed Following Control Strategy with Driver Characteristics Considered

作　　者：郭璧玺 王伟 陶小松 杜兴乐 郭金刚[1] GUO Bixi;WANG Wei;TAO Xiaosong;DU Xingle;GUO Jin′gang(School of Automotive Engineering,Chang′an University,Xi′an 710064,China)

机构地区：[1]长安大学汽车学院,西安710064

出　　处：《机械科学与技术》2021年第5期694-700,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：陕西省自然科学基础研究计划项目(2017JM5139)。

摘　　要：为了在满足乘坐舒适性的前提下提高智能车辆纵向车速跟随控制的精度,提出了一种具有自适应控制系统特性符合驾驶意图以及驾驶员行为特性的纵向控制策略。首先,设计油门和制动切换策略,依据期望车速计算期望加/减速度,并以此获得驾驶意图完成油门和制动的切换控制;其次,提出了一种基于模糊控制的制动控制策略;除此之外,设计了一种比例增益可调的PI油门控制策略。最后,将本文所设计的控制策略与目前普遍研究的PID车速跟踪控制策略分别进行NI实时系统仿真测试。结果表明:本文提出的基于驾驶员特性的车速跟踪控制器有效提高了对参考车速的跟踪精度以及乘坐舒适性。In order to improve the accuracy of a smart vehicle′s longitudinal speed following control on the premise of satisfying the ride comfort,we propose a longitudinal control strategy that is consistent with driving intention and driver behavior characteristics.First,we design the throttle and brake switching strategy,calculate the expected acceleration/deceleration according to the expected speed of the vehicle so as to obtain the driving intention,complete the throttle and brake switching control.Second,we propose a braking control strategy based on fuzzy control.In addition,a PI throttle control strategy with adjustable proportional gain is designed.In the end,the control strategy and the PID vehicle speed tracking control strategy designed in this paper are used to simulate the NI real-time system.The simulation results show that the driver speed-based tracking controller proposed in this paper effectively improves the reference vehicle speed following precision and ride comfort.

关 键 词：驾驶员意图 驾驶员行为特性 车速控制 模糊控制 NI实时系统 

分 类 号：U461[机械工程—车辆工程]