The introduction ofproportional-integral-dorivative （PID） controllers into cooperative collision avoidance systems （CCASs） has been hindered by difficulties in their optimization and by a lack of study of their ef...The introduction ofproportional-integral-dorivative （PID） controllers into cooperative collision avoidance systems （CCASs） has been hindered by difficulties in their optimization and by a lack of study of their effects on vehicle driving stability, comfort, and fuel economy. In this paper, we propose a method to optimize PID controllers using an improved particle swarm optimization （PSO） algorithm, and to bettor manipulate cooperative collision avoidance with other vehicles. First, we use PRESCAN and MATLAB/Simulink to conduct a united simulation, which constructs a CCAS composed of a PID controller, maneuver strategy judging modules, and a path planning module. Then we apply the improved PSO algorithm to optimize the PID controller based on the dynamic vehicle data obtained. Finally, we perform a simulation test of performance before and after the optimization of the PID controller, in which vehicles equipped with a CCAS undertake deceleration driving and steering under the two states of low speed （≤50 km/h） and high speed （≥100 km/h） cruising. The results show that the PID controller optimized using the proposed method can achieve not only the basic functions of a CCAS, but also improvements in vehicle dynamic stability, riding comfort, and fuel economy.展开更多
基金Project supported by the National Natural Science Foundation o4 China （No. 61300145）
文摘The introduction ofproportional-integral-dorivative （PID） controllers into cooperative collision avoidance systems （CCASs） has been hindered by difficulties in their optimization and by a lack of study of their effects on vehicle driving stability, comfort, and fuel economy. In this paper, we propose a method to optimize PID controllers using an improved particle swarm optimization （PSO） algorithm, and to bettor manipulate cooperative collision avoidance with other vehicles. First, we use PRESCAN and MATLAB/Simulink to conduct a united simulation, which constructs a CCAS composed of a PID controller, maneuver strategy judging modules, and a path planning module. Then we apply the improved PSO algorithm to optimize the PID controller based on the dynamic vehicle data obtained. Finally, we perform a simulation test of performance before and after the optimization of the PID controller, in which vehicles equipped with a CCAS undertake deceleration driving and steering under the two states of low speed （≤50 km/h） and high speed （≥100 km/h） cruising. The results show that the PID controller optimized using the proposed method can achieve not only the basic functions of a CCAS, but also improvements in vehicle dynamic stability, riding comfort, and fuel economy.
