混行环境下CACC系统驾乘舒适性优化控制  

Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow

作　　者：梁军[1] 于扬 王文飒 陈龙[1] LIANG Jun;YU Yang;WANG Wensa;CHEN Long(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《西南交通大学学报》2021年第6期1290-1297,共8页Journal of Southwest Jiaotong University

基　　金：国家重点研发计划(2018YFB010500);江苏省高校自然科学研究重大项目(18KJA580002)。

摘　　要：为提升协同式自适应巡航(cooperative adaptive cruise control,CACC)系统在由自动网联汽车(connected automated vehicle,CAV)和人工驾驶汽车(manual vehicle,MV)构成的混行交通流下的驾乘舒适性,提出考虑驾乘舒适性的双层控制策略(dual-layer control strategy considering ride comfort,RC-DCS).上层控制器从宏观角度出发,采用两状态空间模型调整跟车间距及车速,并利用代价函数改善车队的整体稳定性和舒适性;下层控制器从微观角度出发,优化单车的油门和制动踏板切换逻辑,稳定实际加速度输出,降低车辆频繁加减速引起的自身俯仰.试验结果表明:RC-DCS在跟随MV工况中跟车间距误差和加速度分别降低了72.44%和24.87%;在MV插入CACC车队工况中通过增大跟车时距0.4 s以减少加速度波动;在跟车、紧急制动、旁车切入3种典型工况中,单车加速度标准差分别降低了9.6%、10.4%、2.9%.To improve the ride comfort of cooperative adaptive cruise control(CACC)system under the mixed traffic flow that comprises connected automated vehicle(CAV)and manual vehicle(MV),a dual-layer control strategy considering ride comfort(RC-DCS)is proposed.From a macro perspective,the upper controller adopts a two-state space model to adjust the following distance and speed,and improve the overall stability and comfort of the fleet by the use of the cost function.From a microscopic perspective,the lower controller optimizes the logic of switching the throttle and brake pedal of a single vehicle,and stabilizes its actual acceleration output,thereby reducing the pitch caused by frequent acceleration and deceleration.The experimental results show that,the RC-DCS can reduce the following distance error and acceleration by 72.44%and 24.87%respectively in following MV condition.In the condition of MV cut-in CACC fleet,the acceleration fluctuation is reduced by increasing the following headway of 0.4 s.In the three typical conditions of vehicle following,emergency braking and cut-in,the standard deviation of the single-vehicle acceleration is reduced by 9.6%,10.4%and 2.9%,respectively.

关 键 词：智能车辆 混行交通 协同式自适应巡航 舒适性优化 控制策略 

分 类 号：U461.4[机械工程—车辆工程]