考虑道路几何条件的ACC系统上层速度控制模型

The Upper-Layer Speed Control Model of Adaptive Cruise Control(ACC)System Considering Road Geometry

针对ACC系统上层速度控制IDM模型不能对汽车转弯行驶进行横向控制的不足,通过改进IDM模型并运用Simulink仿真试验研究转弯、超高和坡度等道路几何条件变化对特定工况下的汽车纵向和横向行驶的影响。采用车头时距和行驶速度作为指标评价汽车纵向行驶安全性;采用横摆角速度和侧向速度作为指标评价汽车操纵稳定性。仿真发现:在一定超高和坡度的道路上汽车转弯行驶时,纵向方向上改进后模型的车辆车头时距增大,行驶速度减小,保证了行驶安全;横向方向上改进后模型的横摆角速度和侧向速度随转弯半径和超高的增加而减小,保证了良好的操纵稳定性。结果表明,针对道路几何条件的变化,改进的IDM模型可以初步实现ACC系统特定工况下车辆纵向与横向的控制。

Aiming at the disadvantage of Adaptive Cruise Control(ACC)system upper-layer speed control Intelligent Drive Model(IDM)cannot used for lateral control when the vehicle turning,by improving the IDM model and applying Simulink simulation test to study the influence of road geometrychanges such as turning,super-elevation and slopes on vehicle longitudinal and lateral driving under specific conditions.The time headway and driving speed are used as indicators to evaluate the vehicle longitudinal driving safety.The yaw rate and lateral speed are used as indicators to evaluate the vehicle steering stability.The simulation results show thatwhen the vehicle is turning on a road with a certain super-elevation and slope,the time headway of the improved model in longitudinal direction is increased and the driving speed is reduced to ensure driving safety;the yaw rate and lateral speed of the improved model in the lateral direction are reduced with the increase of turning radius and super-elevation,which ensures good steering stability.The results show that the improved IDM model can initially realize the longitudinal and lateral control of vehicle under specific conditions of the ACC system in the view of the change of road geometry.