汽车跟车巡航控制系统研究

Research on the Cruise Control System of Car

文章首先简述跟车巡航系统的工作原理,然后设计系统的切换层,建立车辆动力学约束方程,控制器采用分层式结构,上层控制器采用最优控制计算车辆的期望加速度,下层控制器采用PID控制控制车辆的加速和减速,实验结果表明系统的巡航功能可以正常激活,控制器可以实时控制主车很好的跟随前车进行起步、停止。

This paper first describes the working principle of the following cruise system,then the switching layer of the system is designed and the vehicle dynamics constraint equation is established,the controller adopts the layered structure,and the upper controller adopts the optimal control to calculate the expected acceleration of the vehicle,the lower controller adopts PID control to control the acceleration and deceleration of the vehicle,the experimental results show that the cruise function of the system can be activated normally,and the controller can control the main vehicle to start and stop with the leading vehicle in real time.