考虑城市交通环境的多模式自适应巡航控制策略

Multi-mode Adaptive Cruise Control Strategy Considering Urban Traffic Environment

为了适应城市交通环境,提出多模式自适应巡航控制策略。在上层控制器中,设计恒速巡航、稳态跟随、接近/变道、强加速、强减速和避免碰撞6种模式策略;下层控制器采用PID控制结合查找表方法,设计油门控制器与制动控制器之间的过渡区。仿真结果表明:上层控制器能够在复杂工况下选择合适的行车模式,下层控制器能够满足下坡/上坡加速度控制的预期要求,符合车辆驱动系统特性,可以应用于实车驾驶辅助系统,提高车辆的行驶安全性。

A multi-mode adaptive cruise control strategy is proposed to adapt to urban traffic environment.In the upper controller,six mode strategies are designed,which includes constant speed cruising,steady state following,approach/lane change,strong acceleration,strong deceleration and collision avoidance.The transition zone between throttle controller and brake controller is designed by PID control and lookup table method in the lower controller.The simulation results show that the upper controller can select the appropriate driving mode under complex working conditions,while the lower controller can meet the expected requirements of downhill/uphill acceleration control,which is in line with the characteristics of the vehicle drive system and can be applied to the real vehicle driving assistance system for the improvement of vehicle driving safety.