具有紧急制动功能的多模式自适应巡航控制策略  

Research on the multi-mode adaptive cruise control strategy with emergency braking

作　　者：欧健 黄栋 林嘉玉 杨鄂川 韩先胜 OU Jian;HUANG Dong;LIN Jiayu;YANG Echuan;HAN Xiansheng(School of Vehicle Engineering,Chongqing University of Technology,Chongqing 400054,China;College of Vehicle Engineering,Chongqing Industry and Trade Polytechnic,Chongqing 408000,China;College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学车辆工程学院,重庆400054 [2]重庆工贸职业技术学院车辆工程学院,重庆408000 [3]重庆理工大学机械工程学院,重庆400054

出　　处：《重庆理工大学学报（自然科学）》2023年第3期57-68,共12页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市自然科学基金项目(cstc2019jcyj-msxmX0204)。

摘　　要：为了提高分布式电动车自适应巡航控制(ACC)对复杂多变工况的适应能力,提出了一种具有紧急制动功能的多模式自适应巡航控制策略。针对复杂工况问题,在上层控制器中将ACC系统划分3种主模式和4种子工况;设计基于模糊PID的定速巡航模式以及基于模型预测控制(MPC)的多目标优化控制的跟随模式;在下层控制器中基于电机模型选取目标制动轮缸压力作为紧急制动压力。仿真结果表明:所设计的多模式切换策略有效提高了车辆跟车性与舒适性以及面对紧急工况时的安全性,验证了所设计的控制策略的有效性与可行性。In order to improve the adaptability of adaptive cruise control(ACC)of distribute delectric vehicles to sophisticated and volatile working conditions,this paper proposes a multi-mode adaptive cruise control strategy with emergency braking.Firstly,the ACC system is repartitioned into three main modes and four sub-working conditions by the upper-level controller to accommodate to complex working conditions.Whereafter,the cruising mode based on fuzzy PID and the follow-up mode of multi-objective control based on model predictive control(MPC)are devised.Then,the target wheel cylinder pressure is opted as the emergency braking pressure by the lower-level controller on the basis of the motor model.The simulation results indicate that the contrived multi-mode switching tactic effectively improves vehicle tracking and comfort,along with security in the face of emergency conditions,which verifies the availability and feasibility of the framed control strategy.

关 键 词：自适应巡航控制 紧急制动 多模式切换 模糊PID MPC算法 

分 类 号：U463.6[机械工程—车辆工程]