车辆纵向速度分相控制

Vehicle longitudinal speed split-phase control

针对汽车纵向运动系统具有强烈非线性和参考速度输入不确定的特点,提出一种车辆纵向速度分相控制方法,可以用于车辆纵向速度闭环仿真,也可以用于智能驾驶系统纵向速度控制。算法采用分相控制思想,将车辆的纵向运动分成稳速控制相、加速控制相、急加速控制相、制动控制相、急减速控制相5个相。前3个相内采用油门控制,后2个相内采用刹车控制,在每一个相内采用抗积分饱和PID或比例控制。仿真结果表明,分相控制具有良好的速度跟随精度,并很好地解决了油门和制动的切换问题。

A vehicle longitudinal speed control algorithm was proposed to be used in vehicle closed-loop simulation or in an autonomous vehicle speed control system. As the vehicle longitudinal motion system is a nonlinear system and the reference speed is a random input, the motion of the vehicle was divided into 5 phases, steady speed control phase, acceleration control phase, emergent acceleration phase, brake control phase and emergent brake phase. Throttle paddle was used onty in the first 3 phases, and brake paddle was used only in the last 2 phases. In each specific phase, an anti-integral saturation PID control algorithm or a P algorithm was used. Simulation results showed that the proposed split-phase control was characterized by an accurate vehicle speed-following and a logic switching between a throttle control and a brake control.