考虑前车运动不确定的随机最优ACC控制策略  

Stochastic optimal control of adaptive cruise control considering the uncertainty of preceding vehicle

作　　者：周欣 谢耀华 王润民[4] 郑兵兵[5] ZHOU Xin;XIE Yaohua;WANG Runmin;ZHENG Bingbing(National Engineering and Research Center for Mountainous Highways,Chongqing 400067,China;Research and Development Center of Transport Industry of Self-driving Technology,Chongqing 400067,China;China Merchants Chongqing Communications Technology Research&Design Institute Co.,Ltd.,Chongqing 400067,China;School of Information Engineering,Chang’an University,Xi’an 710016,China;AVIC Jonhon Optronic Technology Co.,Ltd.,Luoyang 471000,China)

机构地区：[1]国家山区公路工程技术研究中心,重庆400067 [2]自动驾驶技术交通运输行业研发中心,重庆400067 [3]招商局重庆交通科研设计院有限公司,重庆400067 [4]长安大学信息工程学院,陕西西安710016 [5]中航光电科技股份有限公司,河南洛阳471000

出　　处：《电子设计工程》2023年第6期75-79,84,共6页Electronic Design Engineering

基　　金：国家山区公路工程技术研究中心开放基金(GSGZJ-2020-07);中央高校基本科研业务费资助项目(3001022411)。

摘　　要：针对传统自适应巡航控制策略对前方目标车运动随机性考虑不足的问题,基于交通车状态转移特征建立能够考虑前车运动不确定性的自适应巡航控制策略。在封闭测试场采集了大量驾驶数据,建立前车纵向加速度随机模型,将车辆跟随行驶构建为一定代价函数下的随机最优控制问题。在考虑前车运动不确定,以及对跟踪性、经济性和舒适性等多目标优化要求下,建立随机动态规划自适应巡航控制策略。对控制策略进行测试,结果表明文中构建的算法能够实现精确跟随行驶。Traditional ACC system is usually divided into speed control and distance control modes. The decision of longitudinal acceleration in distance control mode is directly determined by the state of preceding vehicle. To deal with the problem that the performance of ACC may deteriorate without consideration of the uncertainty of preceding vehicle,a stochastic optimal ACC strategy is proposed in this paper. Based on a real-world driving dataset,the longitudinal control characteristic is studied. Then the distance control is established as a stochastic optimal control problem with a predefined cost function.Using policy iteration algorithm,a stochastic dynamic programming based distance control method is obtained.

关 键 词：自适应巡航控制 随机最优控制 前车运动不确定 随机动态规划 策略迭代 

分 类 号：U463.6[机械工程—车辆工程]