自适应巡航控制系统中旁车道车辆并线控制的研究

A Research on the Side-lane Vehicle Cut-in Control in Adaptive Cruise Control System

为解决自适应巡航控制对旁车道并线车辆的控制滞后问题并充分利用原有控制功能,设计了基于分层结构的旁车并线控制器。由模糊支持向量机对实际交通环境下的旁车并线数据进行机器学习而产生一个旁车并线意图识别器,用以检测旁车的并线行为。旁车并线控制器以主车与旁车的纵向相对车距和碰撞剩余时间为输入,利用模糊控制产生期望加速度以调节主车的期望运动状态,并由自适应巡航控制完成主车的动力学控制。仿真和实车试验结果表明,旁车并线控制器可与其它自适应巡航控制功能协调工作,在旁车并线工况下有效改善主车的行驶安全性。

To remedy the defect of adaptive cruise control（ ACC） regarding the time-lag in controlling sidelane vehicle cut-in maneuver and fully utilize its original functions,a side-lane vehicle cut-in controller based on hierarchy structure is designed. The controller is then trained by fuzzy support vector machine with side-lane vehicle cut-in data acquired under real traffic environment,with a cut-in intent identifier generated for detecting the cut-in maneuver of side-lane vehicle. With the longitudinal relative distance between host vehicle and side-lane vehicle and impact remaining time as inputs,and utilizing the desired acceleration generated by fuzzy control to adjust the desired movement state of host vehicle,the dynamics control of host vehicle is fulfilled by ACC system. The results of simulation and real vehicle test show that the side-lane vehicle cut-in controller designed can work coordinately with other functions of ACC system,effectively improving the driving safety of host vehicle under the condition of cut-in maneuver of side-lane vehicle.