纯电动汽车自适应巡航控制研究  

Research on adaptive cruise control of pure electric vehicles

作　　者：杨铭菲 田杰[1] YANG Mingfei;TIAN Jie(School of Automotive and Traffic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,南京210037

出　　处：《重庆理工大学学报（自然科学）》2023年第4期19-26,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(5195299)。

摘　　要：选择四轮轮毂电机驱动电动汽车为研究对象,运用Matlab/Simulink和CarSim2020对自适应巡航控制系统进行研究。制定了纯电动汽车自适应巡航控制系统整体架构,并对纯电动汽车的纵向动力学进行了分析,随后选择了一种合适的安全距离模型以保证车辆行驶的安全性,运用Simulink搭建了所必需的雷达和轮毂电机模型。采用CarSim2020搭建自车与前车的车辆模型以及仿真环境。基于PID控制算法和线性二次型调节器(linear quadratic regulator,LQR)分别搭建出定速巡航和距离保持的上层控制器,再通过车辆纵向动力学搭建下层控制器。通过Matlab/Simulink和CarSim2020搭建联合仿真模型,在加减速工况下对定速巡航和距离保持控制器进行仿真研究。仿真结果表明:所设计的控制系统能够较好地实现定速巡航和距离保持功能,具有良好的实用性和有效性。In this paper,a four-wheel hub motor-driven electric vehicle is selected as the research object,and the adaptive cruise control system is studied by using Matlab/Simulink and CarSim 2020.Firstly,the overall architecture of the adaptive cruise control system of the pure electric vehicle is developed,and the longitudinal dynamics of the vehicle is analyzed.Subsequently,a suitable safety distance model is selected to ensure the safety of vehicle driving,and the necessary radar and hub motor models are built through Simulink.Next,CarSim 2020 is used to build a vehicle model of the self and front vehicles as well as the simulation environment.Then,the upper-level controllers of cruise control and distance keeping are respectively built based on PID control algorithm and Linear Quadratic Regulator(LQR),and the lower-level controllers are built through vehicle longitudinal dynamics.Finally,a joint simulation model is built by Matlab/Simulink and CarSim 2020 to simulate the cruise control and the distance-keeping controller under acceleration and deceleration conditions.The simulation results show that the control system designed in this paper can realize the function of constant speed cruise and distance keeping better,and has good practicality and effectiveness.

关 键 词：纯电动汽车 安全距离模型 自适应巡航控制 定速巡航 距离保持 

分 类 号：U496.72[交通运输工程—交通运输规划与管理]