基于MPC算法的车辆自适应巡航系统分层控制研究

Research on Hierarchical Control of Vehicle Adaptive Cruise System Based on MPC Algorithm

以前车加速度为参考,考虑跟车效率、行车安全性等因素,建立了车辆的自适应巡航控制策略;设计了基于模型预测控制算法(MPC)计算期望加速度的上层控制器;建立了逆纵向动力学模型计算节气门开度或制动力,实现自适应巡航功能的下层控制器。通过Matlab/Simulink和Carsim软件的联合仿真对巡航工况、巡航-跟车综合工况进行验证,结果表明:该控制方法能够使车辆获得理想的巡航速度,实现车辆在安全车距下较好地跟踪前车。

Considering the acceleration of front vehicle,tracking efficiency,driving safety and other factors,the adaptive cruise control strategy of the vehicle was established in this paper.The upper controller was designed based on the model predictive control(MPC)algorithm to calculate the expected acceleration.The lower controller was established which includes an inverse longitudinal dynamic model to calculate the throttle or braking force,and to realize the adaptive cruise function.The method was verified under cruise condition and cruise tracking condition through the joint simulation of Matlab/Simulink and Carsim software.The results showed that the control method can enable the vehicle to obtain an ideal cruising speed,and to track the front vehicle well under a safe distance.