前车目标丢失弯道自适应巡航控制策略研究  

Research on Adaptive Cruise Control Strategy of Target Loss Curve in Front

作　　者：吴其林 沐笑宇 邱明明[4] 赵雅婷 Wu Qilin;Mu Xiaoyu;Qiu Mingming;Zhao Yating(School of Advanced Manufacturing Engineering,Hefei University,Hefei 230601;Anhui Provincial Engineering Technology Research Center of Intelligent Vehicle Control and Integrated Design Technology,Hefei 230601;BYD Product Planning and Automotive Technology Research Institute,Shanghai 200000;School of Mechanical Engineering,Hefei University of Technology,Hefei 230009;College of Economics&Management,Hefei Normal University,Hefei 230601)

机构地区：[1]合肥学院先进制造工程学院,合肥230601 [2]安徽省智能车辆控制与集成设计技术工程研究中心,合肥230601 [3]比亚迪产品规划及汽车新技术研究院,上海200000 [4]合肥工业大学机械工程学院,合肥230009 [5]合肥师范学院经济与管理学院,合肥230601

出　　处：《汽车工程》2023年第10期1824-1832,1844,共10页Automotive Engineering

基　　金：安徽省制造业重点领域产学研用补短板产品和关键共性技术攻关任务项目(JB22075);安徽省重点实验室自主创新专项(PA2022GDSK0054);合肥学院横向课题新能源车动力电池柔性生产线智能自适应装夹系统开发(902/22050122232);合肥学院人才科研基金项目(21-22RC10)资助。

摘　　要：针对前车目标丢失时车辆弯道自适应巡航的经济性和安全性问题,提出了一种多重约束下弯道自适应巡航策略。首先,建立了发动机燃油消耗模型和车辆纵向动力学模型,考虑弯道曲率的约束,基于动态规划算法对弯道最优巡航车速进行了规划;以经济性和安全性为目标,采用PID算法和MPC算法分别设计了自适应巡航纵向控制器和横向控制器;最后,搭建CarSim和Simulink联合仿真平台,进行了仿真分析;并基于ROS小车进行实验验证,结果表明本文提出的控制方法具有良好的经济性和鲁棒性。For the economic and safety problems of vehicle curve adaptive cruise when the target in front is lost,a curve adaptive cruise strategy under multiple constraints is proposed in this paper.Firstly,the engine fuel consumption model and vehicle longitudinal dynamics model are established,considering the constraints of road curve curvature,and the optimal cruising speed of curves is planned based on the dynamic programming algorithm.Then,taking economy and safety as the target,the adaptive cruise longitudinal controller and transverse controller are designed by the PID algorithm and MPC algorithm,respectively.Finally,a joint simulation platform of CarSim and Simulink is built and simulation analysis is carried out.Based on ROS trolley,experimental verification is car‐ried out,and the results show that the control method proposed in this paper has good economy and robustness.

关 键 词：多重约束 弯道 自适应巡航 经济车速 纵向控制器 横向控制器 

分 类 号：U463.6[机械工程—车辆工程]