基于模型预测控制的汽车自适应巡航分层控制

Hierarchical Control of Vehicle Adaptive Cruise Based Model Predictive Control

自适应巡航系统能够提高汽车的驾驶舒适性和安全性,以模型预测控制方法为基础,设计一种电动汽车自适应巡航分层控制器,其中上层控制器采用模型预测控制器(MPC)实现对需求加、减速度的计算,下层控制器通过驱动/制动切换逻辑确定起作用的车辆系统(驱动系统(轮毂电机)/制动系统),并根据车辆逆纵向动力学模型计算所需的驱动/制动力.为验证所设计自适应巡航分层控制器的有效性,采用MATLAB/Simulink(自适应巡航分层控制器,驱动/制动系统控制器)和Carsim(车辆模型)软件建立系统的仿真模型,分别对等速+等加速+等减速和等速+变加速+变减速2种工况进行仿真.仿真结果表明,所设计的自适应巡航分层控制器能够使巡航车辆准确地跟踪目标车辆.

Adaptive cruise system can improve driving comfort and safety of vehicle.An adaptive cruise hierarchical controller for electric vehicle is proposed based on the model predictive control method.The upper level controller adopts model predictive controller(MPC)to realize the calculation of required acceleration/deceleration.The lower level controller determines the active vehicle system(drive system(wheel hub motor)/brake system)through the driving/brake switching logic,and calculates the required driving/braking force according to the vehicle's inverse longitudinal dynamics model.In order to validate the proposed adaptive cruise hierarchical controller,the simulation model of the system is established by combining MATLAB/Simulink(adaptive cruise controller,drive/brake system controller)and Carsim(vehicle model).The simulations were carried out under two kinds of conditions of constant speed+constant acceleration+constant deceleration and constant speed+variable acceleration+variable deceleration.The simulation results show that the proposed adaptive cruise hierarchical controller enable the cruise vehicle to track the target vehicle accurately.