考虑前车加速度的自适应巡航控制算法仿真

Simulation of Adaptive Cruise Control Algorithm Considering the Acceleration of the Proceeding Vehicle

巡航车辆的安全车距模型及控制模型是自适应巡航控制系统(adaptive cruise control,ACC)的核心。针对一般ACC算法中安全间距模型和控制模型未同时考虑前车加速度的影响因素;将前车加速度作为可变车头时距(variable time headway,VTH)以及模型预测控制(model predictive control,MPC)的输入之一,提出一种考虑前车加速度的自适应巡航控制算法,联合CarSim和MATLAB对传统定速巡航工况和跟随工况进行联合仿真试验。仿真结果表明:与采用传统安全间距模型和控制模型的ACC算法比较,所设计的ACC算法可更快速响应前车速度变化情况,并降低速度的变化频率,提高了乘员的安全性和舒适性。

The safe distance model and control model of cruise vehicles are the core of adaptive cruise control(ACC).Whereas,for the general ACC algorithm,the influencing factors of the preceding vehicle acceleration are not considered in the safety distance model and control model.Therefore,an adaptive cruise control algorithm considering the acceleration of the preceding vehicle was proposed.The acceleration of the preceding vehicle was used as one of the inputs of variable time headway(VTH)and model predictive control(MPC).CARSIM and MATLAB were combined to carry out simulation tests on traditional constant speed cruise condition and following condition.The simulation results show that compared with the ACC algorithm using the traditional safety distance model and control model,the designed ACC algorithm can respond to the speed change of the preceding vehicle more quickly.When the frequency of speed changes is reduced,and the safety and comfort of the occupants are improved.