具有紧急制动功能的多模式自适应巡航控制策略

Research on the multi-mode adaptive cruise control strategy with emergency braking

为了提高分布式电动车自适应巡航控制(ACC)对复杂多变工况的适应能力,提出了一种具有紧急制动功能的多模式自适应巡航控制策略。针对复杂工况问题,在上层控制器中将ACC系统划分3种主模式和4种子工况;设计基于模糊PID的定速巡航模式以及基于模型预测控制(MPC)的多目标优化控制的跟随模式;在下层控制器中基于电机模型选取目标制动轮缸压力作为紧急制动压力。仿真结果表明:所设计的多模式切换策略有效提高了车辆跟车性与舒适性以及面对紧急工况时的安全性,验证了所设计的控制策略的有效性与可行性。

In order to improve the adaptability of adaptive cruise control(ACC)of distribute delectric vehicles to sophisticated and volatile working conditions,this paper proposes a multi-mode adaptive cruise control strategy with emergency braking.Firstly,the ACC system is repartitioned into three main modes and four sub-working conditions by the upper-level controller to accommodate to complex working conditions.Whereafter,the cruising mode based on fuzzy PID and the follow-up mode of multi-objective control based on model predictive control(MPC)are devised.Then,the target wheel cylinder pressure is opted as the emergency braking pressure by the lower-level controller on the basis of the motor model.The simulation results indicate that the contrived multi-mode switching tactic effectively improves vehicle tracking and comfort,along with security in the face of emergency conditions,which verifies the availability and feasibility of the framed control strategy.