Cloud-based predictive adaptive cruise control considering preceding vehicle and slope information  

作　　者：GAO Bolin WANG Luyao LI Shuyan WAN Keke WANG Xuepeng ZHANG Jin WANG Chen LIU Yanbin ZHONG Wei 

机构地区：[1]School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China [2]State Key Laboratory of Intelligent Green Vehicle and Mobility,Tsinghua University,Beijing 100084,China [3]College of Engineering,China Agricultural University,Beijing 100083,China [4]College of Artificial Intelligence,Xi’an Jiaotong University,Xi’an 710049,China [5]Weichai Intelligent Technology Co.,Ltd,Weifang 261041,China

出　　处：《Journal of Systems Engineering and Electronics》2024年第6期1542-1562,共21页系统工程与电子技术(英文版)

基　　金：supported by the National Key R&D Program of China(2021YFB2501000);the Consultancy Research Project on the Strategic Study of the Integration and Innovative Development of Intelligent Connected Vehicles and New Energy Ecology in Zhejiang Province(2023ZL0007);the Hetao Shenzhen-HongKong Science and Technology Innovation Cooperation Zone(HZQB-KCZYZ-2021055);the Open Project of the Key Laboratory of Modern Measurement and Control Technology of the Ministry of Education(KF2022-1123202).

摘　　要：With the advantage of exceptional long-range traffic perception capabilities and data fusion computational prowess,the cloud control system(CCS)has exhibited formidable poten-tial in the realm of connected assisted driving,such as the adap-tive cruise control(ACC).Based on the CCS architecture,this paper proposes a cloud-based predictive ACC(PACC)strategy,which fully considers the road slope information and the preced-ing vehicle status.In the cloud,based on the dynamic program-ming(DP),the long-term economic speed planning is carried out by using the slope information.At the vehicle side,the real-time fusion planning of the economic speed and the preceding vehi-cle state is realized based on the model predictive control(MPC),taking into account the safety and economy of driving.In order to ensure the safety and stability of the vehicle-cloud cooperative control system,an event-triggered cruise mode switching method is proposed based on the state of each sub-system of the vehicle-cloud-network-map.Simulation results indicate that the PACC system can still ensure stable cruising under delays and some complex conditions.Moreover,under normal conditions,compared to the ACC system,the PACC sys-tem can further improve economy while ensuring safety and improve the overall energy efficiency of the vehicle,thus achiev-ing fuel savings of 3%to 8%.

关 键 词：predictive adaptive cruise control(PACC) cloud control system(CCS) economic driving 

分 类 号：U46[机械工程—车辆工程]