考虑前车意图的车距控制研究  

Research on Distance Control Considering the Intention of the Vehicle Ahead

作　　者：韩帅帅 郝洪涛[1,2] 马侦 HAN Shuaishuai;HAO Hongtao;MA Zhen(School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China;Ningxia Key Laboratory of CAE on Intelligent Equipment,Ningxia University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机械工程学院,宁夏银川750021 [2]宁夏智能装备CAE重点实验室,宁夏银川750021

出　　处：《西北工程技术学报》2024年第3期260-265,共6页Ningxia Engineering Technology

基　　金：国家自然科学基金项目(51665048);教育部产学合作协同育人项目(220900805141134)。

摘　　要：在车辆自适应巡航过程中,前车驾驶员的操作意图对跟随车辆具有重要影响,针对车辆自适应巡航时容易受前车加减速影响自身跟车距离的问题,设计了一种考虑前车驾驶意图的安全车距策略。该策略由意图识别层、跟随决策层、运动控制层3部分组成。意图识别层采集踏板信号,选择T-S模糊神经网络对加减速意图进行辨识;跟随决策层通过网联环境实时接收前车驾驶意图,计算期望安全车距与期望加速度;运动控制层建立车辆逆纵向动力学模型,将期望加速度转化为油门踏板开度与制动缸压力,实现车辆跟随控制。多工况仿真结果表明,考虑前车意图的车距策略实现了跟随车辆在前车不同驾驶意图下的稳定车距跟随。During the adaptive cruise of vehicles,the operational intention of the vehicle ahead significantly impacts the following vehicle.To address the issue of the following vehicle’s distance being easily influenced by the acceleration and deceleration of the vehicle ahead,a safety distance strategy considering the driver’s intent of the vehicle ahead has been designed.This strategy consists of three parts:intent recognition layer,following decision layer,and motion control layer.The intent recognition layer collects pedal signals and uses a T-S fuzzy neural network to identify acceleration and deceleration intentions;the following decision layer receives the lead vehicle’s driving intent in real-time through a connected environment and calculates the desired safe distance and expected acceleration;the motion control layer establishes an inverse longitudinal dynamics model of the vehicle,converting the expected acceleration into throttle pedal opening and brake cylinder pressure to achieve vehicle following control.Simulation results under multiple conditions indicate that the distance strategy considering the intent of the vehicle ahead achieves stable distance following of the following vehicle under different driving intentions of the vehicle ahead.

关 键 词：车辆工程 车辆跟随 间距策略 驾驶意图 网联车 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]