具有换道功能的自适应巡航控制策略研究

Research on adaptive cruise control strategy with lane changing function

传统的自适应巡航控制车辆在面对前方低速行驶的目标车辆时只能低速跟车行驶,为提高ACC车辆的行车效率,提出了具有换道功能的自适应巡航控制策略。将ACC车辆的控制模式分为定速巡航、跟车巡航、换道巡航3种,基于速度不满意累计度设计了多模式切换策略。基于模型预测控制算法设计了定速巡航和跟车巡航纵向控制器、换道轨迹跟踪控制器,并利用五次多项式规划了换道轨迹。使用PreScan/CarSim/Matlab软件搭建仿真平台,设计多种测试工况,对设计的控制策略进行联合仿真测试。结果表明,设计的控制策略稳定且可靠。

Traditional ACC vehicles can only follow the vehicle at low speed when facing the target vehicle at low speed ahead.In order to improve the driving efficiency of ACC vehicles,an adaptive cruise control strategy with lane changing function is proposed.The control modes of ACC vehicle are divided into three types:constant speed cruise,following cruise and lane changing cruise.Based on the model predictive control algorithm,the longitudinal controller of constant speed cruise and car following cruise and the lane changing trajectory tracking controller are designed,and the lane changing trajectory is planned by quintic polynomial.Finally,PreScan/CarSim/Matlab software is used to build the simulation platform,design a variety of test conditions,and carry out simulation test on the designed control strategy.The simulation results show that the control strategy is stable and reliable.