基于生态驾驶的自动驾驶汽车交叉路口控制策略研究

Research on Ecological Driving Control Strategy of Autonomous Vehicle at Intersections

为了进一步提高自动驾驶汽车在交叉路口行驶时的燃油经济性,基于模型预测控制(MPC)理论,量化分析了车辆安全性、经济性、舒适性等多性能指标函数及约束,并设计了以经济性为主的交叉路口自动驾驶汽车生态驾驶控制器。仿真结果表明,所提出的控制策略能够保证良好的安全性和舒适性,与LQR控制器相比,在有前车影响和无前车影响工况下的百公里油耗分别降低15.83%和34.98%。

In order to further improve the fuel economy of autonomous vehicle driving at intersections,this paper analyzed quantitatively the performance index functions and constraints including vehicle safety,economy,comfort,etc.,based on the Model Predictive Control(MPC)theory,and an ecological driving controller of autonomous vehicle at intersections was designed.The simulation results show that the control strategy proposed in the paper can ensure good safety and comfort,reduce fuel consumption by 15.83%and 34.98%respectively compared with Linear Quadratic Regulator(LQR)under conditions with/without vehicle ahead affecting vehicle driving.