基于变车头时距的汽车自适应巡航系统设计  

Design of vehicle adaptive cruise system based on variable headway

作　　者：冯莉 杨薪敬 曾辉 FENG Li;YANG Xinjing;ZENG Hui(School of Traffic&Transportation,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学交通运输学院,重庆400074

出　　处：《电子设计工程》2024年第5期19-24,共6页Electronic Design Engineering

基　　金：国家自然科学基金青年科学基金项目(61803055);重庆市自然科学基金面上项目(cstc2019jcyj-msxmX0222)。

摘　　要：距离模型和控制算法是汽车自适应巡航系统(Adaptive Cruise Control,ACC)设计的关键。采用分层式控制方法设计ACC系统控制策略。设计上层控制器,基于多行车因素影响设计变车头时距模型,利用状态机搭建模式切换策略,同时设计一种车距-速度串联式PID控制策略求取期望加速度;依靠下层控制器,计算节气门开度/制动压力并输入到CarSim中控制执行器,从而使整个系统实现闭环控制。通过CarSim/Simulink建立联合仿真模型,在多种工况下对模型进行验证。仿真结果表明,改进的变车头时距模型与其他模型相比具有一定优势,所设计ACC系统在多种工况下能够实现稳定的定速巡航和前车跟随功能,保证汽车行驶安全性。Distance model and control algorithm are the key to realize Adaptive Cruise Control(ACC).In this paper,hierarchical control is adopted to design ACC control strategy.The upper controller is designed.Based on the variable headway model,the mode switching strategy is built by the state machine while the influence of multiple driving factors are considered.Meanwhile,a serial PID control strategy of distance and speed is designed to calculate the expected acceleration under different modes.The lower controller is designed to calculate the throttle opening/brake pressure.The message is input to CarSim to control the actuator,so that the whole system can achieve closed-loop control.The co-simulation model of CarSim/Simulink is established and the model is verified in various working conditions.The simulation results show that the improved variable headway model has certain advantages compared with other models.The ACC control strategy designed in this paper can achieve stable fixed speed cruising and vehicle following under various conditions.The driving safety can be guaranteed by the proposed ACC.

关 键 词：自适应巡航控制 变车头时距 串联式PID 联合仿真 

分 类 号：TN98[电子电信—信息与通信工程]