汽车自适应巡航线性参变间距控制算法

Design of linear parametrically varying headway control algorithm for ACC vehicles

为满足驾驶员对汽车自适应巡航控制系统的个性化安全车间距设计的需求,采用H∞理论设计了线性参变间距控制算法。考虑到驾驶员自主设定车头时距带来的控制系统动态不确定性问题,采用线性参变模型描述本车与前车间的相对运动学特性,并通过加速度限值抑制了控制输入饱和且改善了乘坐舒适性。基于H∞控制理论并根据时距动态变化实现了对控制器参数的实时调整和汽车纵向动力学的非线性控制。典型仿真工况及其与动态面控制算法的性能对比性分析表明,本文算法可实现驾驶员对车头时距的个性化设定,同时也避免了时距和车辆状态离散变化甚至跳变带来的瞬态跟随性能恶化。

An individual linear parametrically varying headway control algorithm is designed based on H∞ concept for Adaptive Cruise Control（ACC）systems.The relative kinematics between the host vehicle and the preceding vehicle is represented using a linear parametrically varying model considering the uncertainty owing to the time gap set by drivers dynamically.The longitudinal acceleration is restrained under control input saturation and the passenger comfort is improved。Furthermore,the controller gains are tuned in real time according to the dynamic time gap based on H∞ concept and the nonlinear longitudinal dynamics controller is designed.Finally,the designed algorithm is validated under a typical condition and compared with the existing Dynamic Surface Controller（DSC）.The results show that the individual setting of the time gap is achieved via the linear parametrically varying headway control algorithm,the deterioration of transient following performance for the sake ofdiscrete variation of the time gap and automotive states is avoided.