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Yaw stability control of tractor vehicle based on nonsingular fast terminal sliding mode 基于非奇异快速终端滑动模式的牵引车偏航稳定性控制
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-09-06 DOI: 10.1177/09544070241272772
Hongbo Wang, Siyi Zheng, Shihan Xu
Yaw stability is very important for commercial traction vehicles, the yaw stability control of traction vehicle based on nonsingular fast terminal sliding mode is studied in this paper. Firstly, the sliding mode control with high robustness is selected for the yaw moment controller, and the traditional sliding mode, fast terminal sliding mode, and nonsingular fast terminal sliding mode (NFTSM) are derived. The rear axle side deflection angle is monitored, and the traditional yaw stability control strategy is improved. When computing actuator response value, the calculation of the target slip rate and the target engine torque are added on the basis of the traditional calculation of the target braking pressure, and the variable parameter PID method is introduced in the torque calculation part to improve the effect of torque control. A simulation and a real vehicle test are carried out, and the results show that the effect of the developed nonsingular fast terminal sliding mode controller is significantly better than the fast terminal sliding mode method and has strong vehicle directional stability.
偏航稳定性对于商用牵引车辆非常重要,本文研究了基于非正弦快速终端滑动模式的牵引车辆偏航稳定性控制。首先,选择鲁棒性较高的滑动模态控制作为偏航力矩控制器,并推导出传统滑动模态、快速终端滑动模态和非奇异快速终端滑动模态(NFTSM)。监测后轴侧偏角,改进传统的偏航稳定性控制策略。在计算执行器响应值时,在传统的目标制动压力计算基础上增加了目标滑移率和目标发动机扭矩的计算,并在扭矩计算部分引入了可变参数 PID 方法,以改善扭矩控制效果。进行了仿真和实车测试,结果表明所开发的非奇异快速终端滑模控制器的效果明显优于快速终端滑模方法,且具有较强的车辆方向稳定性。
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引用次数: 0
Optimal control strategy for vehicle starting coordination based on driver intention recognition 基于驾驶员意图识别的车辆启动协调优化控制策略
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-09-04 DOI: 10.1177/09544070241272803
Xianhe Shang, Fujun Zhang, Zhenyu Zhang, Tao Cui
To enhance the starting performance of heavy-duty vehicles under different starting conditions, a vehicle starting coordinated optimal control method based on driver intention recognition is proposed. This method uses the Gaussian Mixture Model-Hidden Markov Model (GMM-HMM) for starting intention recognition, dividing the starting intentions into three categories: gentle start, normal start, and emergency start. The GMM-HMM starting intention recognition model is validated using real vehicle data. Based on the recognition results of driver intentions, a performance index function is defined as a weighted sum of smoke limit restriction time, 0–20 km/h acceleration time, and starting jerk. By assigning different weight coefficients, the allocation of requirements for starting power and comfort is achieved. Based on the principle of minimizing values, the coordinated control parameters (upshift speed and starting fuel quantity) are optimized, resulting in the optimal combination of coordinated control parameters under different starting intentions. This enables the optimal control of vehicle starting coordination based on the driver’s different starting intentions.
为了提高重型车辆在不同起动条件下的起动性能,提出了一种基于驾驶员意图识别的车辆起动协调优化控制方法。该方法采用高斯混合模型-隐马尔可夫模型(GMM-HMM)进行起步意图识别,将起步意图分为三类:平缓起步、正常起步和紧急起步。GMM-HMM 启动意图识别模型使用真实车辆数据进行了验证。根据驾驶员意图的识别结果,定义了一个性能指标函数,该函数是烟度限制时间、0-20 km/h 加速时间和起步颠簸的加权和。通过分配不同的权重系数,实现了对起步动力和舒适性要求的分配。根据数值最小化原则,对协调控制参数(升挡速度和起步燃油量)进行优化,从而实现不同起步意图下协调控制参数的最优组合。这样就能根据驾驶员不同的起步意图对车辆起步协调进行优化控制。
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引用次数: 0
Estimating vehicle sideslip angle through kinematic and dynamic contributions: Theory and experimental results 通过运动学和动力学贡献估算车辆侧滑角:理论和实验结果
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-31 DOI: 10.1177/09544070241274534
Mariagrazia Tristano, Basilio Lenzo
Vehicle lateral stability plays an important role within vehicle passenger safety. The study of lateral stability is typically related to investigating the dynamics of relevant vehicle states: among these, the vehicle sideslip angle ([Formula: see text]) emerges as a prominent candidate. Sideslip angle measurement is expensive and impractical, hence estimation techniques are often used, typically based on Kalman filters or neural networks, both with their issues. This work presents an alternative estimation method based on the idea of splitting sideslip angle into kinematic and dynamic contributions, and by observing that the kinematic contribution is straightforward to estimate. Therefore, efforts are devoted into estimating dynamic sideslip angle, which is herein obtained through a parametric interpolation harnessing lateral acceleration. Only data available from traditional vehicle onboard sensors are used in the process. Experimental results are presented along several manoeuvres on a full-scale vehicle, with the estimator running online within a dSPACE unit, ultimately supporting the efficacy and real-time feasibility of the proposed approach.
车辆横向稳定性在车辆乘客安全方面发挥着重要作用。横向稳定性研究通常与调查相关车辆状态的动态有关:其中,车辆侧滑角([公式:见正文])是一个重要的候选参数。侧滑角的测量既昂贵又不实用,因此通常采用基于卡尔曼滤波器或神经网络的估算技术,但两者都存在问题。本研究提出了另一种估算方法,其基础是将侧滑角分为运动贡献和动态贡献,并观察到运动贡献可以直接估算。因此,本文致力于估算动态侧滑角,并通过利用侧向加速度的参数插值法获得动态侧滑角。在此过程中,只使用了传统车载传感器提供的数据。在 dSPACE 设备中在线运行估算器的情况下,在全尺寸车辆上进行了几次机动,并展示了实验结果,最终证明了所提方法的有效性和实时可行性。
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引用次数: 0
The effect of embedded EGR pipe in diesel engine intake port on in-cylinder intake stratification 柴油发动机进气口嵌入式 EGR 管对缸内进气分层的影响
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-30 DOI: 10.1177/09544070241272784
Guangyuan Bao, Chao He, Libing Xie, Yingxue Xiao, Jiaqiang Li
This study focuses on the design of an embedded Exhaust gas recirculation (EGR) pipe within the helical intake port of a diesel engine, adjusting the in-cylinder EGR stratification by changing the structural parameters of the EGR pipe, and examining its impact on engine combustion and emissions. The main focus is on the effect of EGR pipe angle B on in-cylinder EGR stratification. The degree of in-cylinder EGR gas stratification is used to evaluate the EGR stratification gradient and analyze the effects of different swirl ratios and EGR stratification on combustion. The study shows that introducing CO2 through the EGR pipe can form an ideal radial stratification of rich outer and lean inner layers in the combustion chamber, with a maximum stratification degree of up to 13.2%. Comparative analysis of different swirl ratios and EGR gas introduction reveals that increasing the swirl ratio can significantly reduce soot emissions. Additionally, introducing 10% CO2 through the embedded EGR pipe can significantly reduce NO x emissions.
本研究的重点是设计柴油发动机螺旋进气口内的嵌入式废气再循环(EGR)管道,通过改变 EGR 管道的结构参数来调整缸内 EGR 分层,并研究其对发动机燃烧和排放的影响。研究的重点是 EGR 管道角度 B 对缸内 EGR 分层的影响。利用气缸内 EGR 气体分层程度来评估 EGR 分层梯度,并分析不同漩涡比和 EGR 分层对燃烧的影响。研究表明,通过 EGR 管道引入二氧化碳可在燃烧室内形成理想的外层富裕、内层贫乏的径向分层,最大分层度可达 13.2%。对不同涡流比和 EGR 气体引入量的对比分析表明,增加涡流比可显著减少烟尘排放。此外,通过嵌入式 EGR 管道引入 10% 的 CO2 可以显著减少氮氧化物的排放。
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引用次数: 0
Investigation of energy management strategy based on deep reinforcement learning algorithm for multi-speed pure electric vehicles 基于深度强化学习算法的多速纯电动汽车能量管理策略研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-29 DOI: 10.1177/09544070241275427
Weiwei Yang, Denghao Luo, Wenming Zhang, Nong Zhang
With increasingly prominent problems such as environmental pollution and the energy crisis, the development of pure electric vehicles has attracted more and more attention. However, the short range is still one of the main reasons affecting consumer purchases. Therefore, an optimized energy management strategy (EMS) based on the Soft Actor-Critic (SAC) and Deep Deterministic Policy Gradient (DDPG) algorithm is proposed to minimize the energy loss for multi-speed pure electric vehicles, respectively, in this paper. Vehicle speed, acceleration, and battery SOC are selected as state variables, and the action space is set to the transmission gear. The reward function takes into account energy consumption and battery life. Simulation results reveal that the proposed EMS-based SAC has a better performance compared to DDPG in the NEDC cycle, manifested explicitly in the following three aspects: (1) the battery SOC decreases from 0.8 to 0.7339 and 0.73385, and the energy consumption consumes 5264.8 and 5296.6 kJ, respectively; (2) The maximumC-rate is 1.565 and 1.566, respectively; (3) the training efficiency of SAC is higher. Therefore, the SAC-based energy management strategy proposed in this paper has a faster convergence speed and gradually approaches the optimal energy-saving effect with a smaller gap. In the WLTC condition, the SAC algorithm reduces 24.1 kJ of energy compared with DDPG, and the C-rate of SAC is below 1. The maximum value is 1.565, which aligns with the reasonable operating range of vehicle batteries. The results show that the SAC algorithm is adaptable under different working conditions.
随着环境污染、能源危机等问题日益突出,纯电动汽车的发展受到越来越多的关注。然而,续航里程短仍然是影响消费者购买的主要原因之一。因此,本文提出了一种基于软行为批判(SAC)和深度确定性策略梯度(DDPG)算法的优化能量管理策略(EMS),以分别最小化多速纯电动汽车的能量损耗。选取车辆速度、加速度和电池 SOC 作为状态变量,并将行动空间设置为变速箱档位。奖励函数考虑了能耗和电池寿命。仿真结果表明,与 DDPG 相比,基于 EMS 的 SAC 在 NEDC 循环中具有更好的性能,具体表现在以下三个方面:(1)电池 SOC 分别从 0.8 降至 0.7339 和 0.73385,能耗分别为 5264.8 和 5296.6 kJ;(2)最大 C 率分别为 1.565 和 1.566;(3)SAC 的训练效率更高。因此,本文提出的基于 SAC 的能量管理策略收敛速度较快,并以较小的差距逐渐接近最佳节能效果。在 WLTC 条件下,SAC 算法比 DDPG 减少了 24.1 kJ 能量,且 SAC 的 C 率低于 1,最大值为 1.565,符合车辆电池的合理工作范围。结果表明,SAC 算法能适应不同的工作条件。
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引用次数: 0
Regenerative braking fault compensation control of distributed electric vehicle considering random wheel fault degree 考虑随机车轮故障程度的分布式电动汽车再生制动故障补偿控制
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-28 DOI: 10.1177/09544070241271761
Ting Fang, Qidong Wang, Linfeng Zhao, Wuwei Chen, Bixin Cai, Huiran Wang
Distributed drive electric vehicles can reduce range anxiety through regenerative braking. However, if the wheel motor torque output fails, it will form an additional yaw moment to the vehicle, causing instability, or deviation and threatening its safety. To solve this problem, the research object is an electric vehicle driven by a four-wheel hub motor. A braking force compensation distribution strategy for front and rear axles is proposed, which combines electronic hydraulic braking (EHB) system compensation control and deviation auxiliary control. Firstly, a fault detection module is established, and the motor’s output torque is estimated by designing a torque observer to obtain the fault degree information of the motor. Secondly, to fully use the motor’s regenerative braking force, the fault-free and faulty electro-hydraulic braking force distribution strategies are designed in the coordinated distribution layer of the electro-hydraulic braking system. The corresponding electro-hydraulic braking force compensation method is selected according to the fault degree of the regenerative braking function, the position of the faulty wheel, and the braking strength. Then, a deviation auxiliary controller is designed based on the model predictive control, and the intervention time of the auxiliary controller is determined according to the vehicle’s state. Finally, the control method is verified based on CarSim/Simulink co-simulation and hardware-in-the-loop (HIL) platform. The test results show that the designed control method can effectively compensate for the regenerative braking failure of random wheel and ensure the braking safety of the vehicle.
分布式驱动电动汽车可以通过再生制动减少续航焦虑。但是,如果轮毂电机扭矩输出失效,就会对车辆形成额外的偏航力矩,导致车辆不稳定或偏离,威胁车辆安全。为解决这一问题,研究对象是由四轮轮毂电机驱动的电动汽车。提出了一种前后轴制动力补偿分配策略,该策略结合了电子液压制动(EHB)系统补偿控制和偏离辅助控制。首先,建立故障检测模块,通过设计扭矩观测器估算电机的输出扭矩,从而获得电机的故障程度信息。其次,为了充分利用电机的再生制动力,在电液制动系统的协调分配层设计了无故障和故障电液制动力分配策略。根据再生制动功能的故障程度、故障车轮的位置和制动强度,选择相应的电液制动力补偿方法。然后,基于模型预测控制设计偏差辅助控制器,并根据车辆状态确定辅助控制器的干预时间。最后,基于 CarSim/Simulink 协同仿真和硬件在环(HIL)平台对控制方法进行了验证。测试结果表明,所设计的控制方法能有效补偿随机轮的再生制动失效,确保车辆的制动安全。
{"title":"Regenerative braking fault compensation control of distributed electric vehicle considering random wheel fault degree","authors":"Ting Fang, Qidong Wang, Linfeng Zhao, Wuwei Chen, Bixin Cai, Huiran Wang","doi":"10.1177/09544070241271761","DOIUrl":"https://doi.org/10.1177/09544070241271761","url":null,"abstract":"Distributed drive electric vehicles can reduce range anxiety through regenerative braking. However, if the wheel motor torque output fails, it will form an additional yaw moment to the vehicle, causing instability, or deviation and threatening its safety. To solve this problem, the research object is an electric vehicle driven by a four-wheel hub motor. A braking force compensation distribution strategy for front and rear axles is proposed, which combines electronic hydraulic braking (EHB) system compensation control and deviation auxiliary control. Firstly, a fault detection module is established, and the motor’s output torque is estimated by designing a torque observer to obtain the fault degree information of the motor. Secondly, to fully use the motor’s regenerative braking force, the fault-free and faulty electro-hydraulic braking force distribution strategies are designed in the coordinated distribution layer of the electro-hydraulic braking system. The corresponding electro-hydraulic braking force compensation method is selected according to the fault degree of the regenerative braking function, the position of the faulty wheel, and the braking strength. Then, a deviation auxiliary controller is designed based on the model predictive control, and the intervention time of the auxiliary controller is determined according to the vehicle’s state. Finally, the control method is verified based on CarSim/Simulink co-simulation and hardware-in-the-loop (HIL) platform. The test results show that the designed control method can effectively compensate for the regenerative braking failure of random wheel and ensure the braking safety of the vehicle.","PeriodicalId":54568,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering","volume":"173 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142205284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Comparative analysis of different spacing policies for longitudinal control in vehicle platooning 排车纵向控制中不同间距策略的比较分析
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-28 DOI: 10.1177/09544070241273985
Nguyen Viet Hung, Duc Lich Luu, Quoc Thai Pham, Ciprian Lupu
Most existing automated driving vehicles in the platoon equipped with an Adaptive Cruise Control (ACC) systems and a Cooperative Adaptive Cruise Control (CACC) systems have mainly focused on enhancing safety, improving traffic efficiency problems, and reducing workload. The spacing strategy is the core of all platoon designs, and the performance of an ACC/CACC systems hinges on the select of the spacing strategy. Although, in the literature, there are many papers dealing with platoon control, detailed explanations of the operating mechanisms of two types of spacing policies including the Headway Spacing Strategy (CTHS), and Constant Spacing Strategy (CSS), and comparative studies on them are still lacking. This work presents the studies of the longitudinal control strategy of a platoon of vehicles equipped with the existing ACC systems and CACC systems under two different spacing policies to evaluate the performances. The contributions in this work are carefully reviewed and the operating mechanisms and characteristics of two different spacing policies: the CTHS and CSS, the general evaluation criteria for spacing strategies are provided and their advantages and disadvantages are based on the numerical results. Both numerical simulations and experiments with a platoon of smart cars in real-time have demonstrated the effectiveness and practicability of the presented methodology.
现有的自动驾驶车辆大多配备自适应巡航控制(ACC)系统和协同自适应巡航控制(CACC)系统,主要侧重于提高安全性、改善交通效率问题和减少工作量。间距策略是所有排队设计的核心,而 ACC/CACC 系统的性能取决于间距策略的选择。虽然有许多文献涉及排距控制,但对两类间距策略(包括超前间距策略(CTHS)和恒定间距策略(CSS))的运行机制的详细解释以及对它们的比较研究仍然缺乏。本研究介绍了在两种不同间距策略下,配备现有自动驾驶辅助系统和 CACC 系统的一排车辆的纵向控制策略,并对其性能进行了评估。我们仔细回顾了这项工作的贡献,并根据数值结果介绍了两种不同间距策略(CTHS 和 CSS)的运行机制和特点、间距策略的一般评估标准以及它们的优缺点。数值模拟和实时智能汽车排列实验都证明了所介绍方法的有效性和实用性。
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引用次数: 0
A review of carsickness mitigation: Navigating challenges and exploiting opportunities in the era of intelligent vehicles 晕车缓解回顾:驾驭智能汽车时代的挑战和机遇
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-28 DOI: 10.1177/09544070241269607
Daofei Li, Tingzhe Yu, Binbin Tang
Motion sickness (MS) has long been a common complaint in road transportation. However, in the era of driving automation, MS has become an increasingly significant issue. The future intelligent vehicle is envisioned as a mobile space for work or entertainment, but unfortunately passengers’ engagement in non-driving tasks may exacerbate MS. Finding effective MS countermeasures is crucial to ensure a pleasant passenger experience. Nevertheless, due to the complex mechanism of MS, there are numerous challenges in mitigating it, hindering the development of practical countermeasures. To address this, we first review two prevalent theories explaining the mechanism of MS. Subsequently, this paper provides a summary of current subjective and objective approaches for quantifying motion sickness levels. Then, it surveys existing methods for alleviating MS, including passenger adjustment, intelligent vehicle solutions, and motion cues of various modalities. Furthermore, we outline the limitations and remaining challenges of current research and highlight novel opportunities in the context of intelligent vehicles. Finally, we propose an integrated framework for alleviating MS. The findings of this review will enhance our understanding of carsickness and offer valuable insights for future research and practice in MS mitigation within modern vehicles.
长期以来,晕车(MS)一直是道路交通中的常见病。然而,在自动驾驶时代,MS 已成为一个越来越重要的问题。未来的智能汽车被设想为工作或娱乐的移动空间,但不幸的是,乘客参与非驾驶任务可能会加剧 MS。找到有效的 MS 对策对于确保乘客的愉快体验至关重要。然而,由于 MS 的机理复杂,在缓解 MS 方面存在诸多挑战,阻碍了实用对策的开发。为此,我们首先回顾了解释 MS 机制的两种流行理论。随后,本文概述了当前量化晕动病程度的主观和客观方法。然后,本文调查了缓解 MS 的现有方法,包括乘客调整、智能车辆解决方案和各种模式的运动提示。此外,我们还概述了当前研究的局限性和仍然面临的挑战,并强调了智能车辆背景下的新机遇。最后,我们提出了缓解多发性硬化症的综合框架。本综述的结论将加深我们对晕车的理解,并为未来在现代车辆中缓解 MS 的研究和实践提供宝贵的见解。
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引用次数: 0
Enhancing perception of vehicle motion by objective positioning of the longitudinal axis of rotation in driving simulators 通过客观定位驾驶模拟器的纵向旋转轴来增强对车辆运动的感知
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-27 DOI: 10.1177/09544070241266444
Henrik Hvitfeldt, Lars Drugge, Jenny Jerrelind
The automotive industry is heading towards a more objective approach to vehicle testing, but subjective evaluation is still an important part of the development process. Subjective evaluation in physical testing has environmental implications and is dependent on ambient conditions. A more repeatable, faster, safer and more cost-effective tool for subjective evaluation is to use moving base driving simulators. The motion cueing algorithms (MCA) maps the movement of the vehicle into the limited space of the simulator. The choice of reference point, that is, where on the vehicle to sample the motion to feed to the MCA and the alignment of the axis of rotation of the simulator cabin is still an open topic. This paper investigates the choice of reference point and corresponding simulator longitudinal axis of rotation in roll using two methods. The first method uses a linearised model of the combined system of vehicle, simulator and vestibular models. The second method, to position the cabin longitudinal axis of rotation, is based on offline optimisation. The linear model can capture important characteristics of the specific forces and rotations that are fed to the driver through the motion cueing algorithms and offers a method to objectively analyse and potentially tune the motion cueing. The analysis is further complemented with a subjective evaluation of corresponding settings. The results from the linear model, the offline optimisation and the subjective evaluation shows that a reference point at the driver’s head has a clear advantage over the full frequency range compared to a reference point in the chassis roll axis and that the positioning of the cabin longitudinal axis of rotation has a significant effect on the perceived vehicle characteristics.
汽车行业正朝着更客观的汽车测试方法发展,但主观评价仍是开发过程的重要组成部分。物理测试中的主观评价会对环境产生影响,并取决于环境条件。一种可重复性更高、更快、更安全和更具成本效益的主观评价工具是使用移动底座驾驶模拟器。运动提示算法(MCA)将车辆的运动映射到模拟器的有限空间内。参考点的选择,即在车辆的哪个位置对运动进行采样以输入 MCA,以及模拟器机舱旋转轴的对齐方式,仍是一个未决课题。本文采用两种方法对参考点的选择和相应的模拟器纵向旋转轴的滚动进行了研究。第一种方法使用车辆、模拟器和前庭模型组合系统的线性化模型。第二种方法是基于离线优化来定位座舱纵向旋转轴。线性模型可以捕捉到通过运动诱导算法反馈给驾驶员的特定力和旋转的重要特征,并提供了一种客观分析和潜在调整运动诱导的方法。该分析还辅以对相应设置的主观评估。线性模型、离线优化和主观评估的结果表明,与位于底盘滚动轴的参考点相比,位于驾驶员头部的参考点在全频率范围内具有明显优势,而且座舱纵向旋转轴的定位对感知的车辆特性具有显著影响。
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引用次数: 0
Cooperative adaptive cruise control system with improved variable spacing strategy 采用改进型可变间距策略的协同自适应巡航控制系统
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-08-24 DOI: 10.1177/09544070241271830
Chunguo Zhou, Zhicheng Zeng, Jin Mao, Tengfei Zheng, Chao Liu
To further improve the safety, tracking, comfort, fuel economy, and platoon fluctuation of the cooperative adaptive cruise control (CACC) system, and alleviate traffic congestion, an improved model predictive control (MPC) algorithm considering multi-objective optimization is designed. An error compensation prediction constant time headway spacing strategy considering relative velocity, relative acceleration, and preceding vehicle distance error is proposed. The spacing strategy is introduced into the prediction model of MPC to optimize the prediction accuracy, improve the response-ability of the rear vehicle to the change of the lead state, and better coordinate the conflicting multiple objectives. The asymptotic stability of the CACC system under the improved MPC algorithm is proved by the Lyapunov stability theory, and the evaluation index is established to quantify the comprehensive performance of the CACC system. The numerical simulation is carried out under rapid acceleration and deceleration conditions, and the results show that the improved model predictive control algorithm can improve the safety, tracking, comfort, fuel economy, and road capacity of the CACC system. To simulate real traffic scenarios, co-simulation is carried out under the Worldwide Harmonized Light Vehicles Test Cycle (WLTC) condition, which further verifies the rationality and effectiveness of the algorithm.
为进一步提高协同自适应巡航控制系统(CACC)的安全性、跟踪性、舒适性、燃油经济性和排量波动性,缓解交通拥堵,设计了一种考虑多目标优化的改进型模型预测控制(MPC)算法。提出了一种考虑相对速度、相对加速度和前车距离误差的误差补偿预测恒定时间车头间距策略。该间隔策略被引入 MPC 预测模型,以优化预测精度,提高后车对前车状态变化的响应能力,并更好地协调相互冲突的多目标。利用李雅普诺夫稳定性理论证明了改进 MPC 算法下 CACC 系统的渐近稳定性,并建立了评价指标来量化 CACC 系统的综合性能。在急加速和急减速条件下进行了数值仿真,结果表明改进的模型预测控制算法可以提高 CACC 系统的安全性、跟踪性、舒适性、燃油经济性和道路通行能力。为模拟真实交通场景,在全球统一轻型车辆测试循环(WLTC)条件下进行了协同仿真,进一步验证了算法的合理性和有效性。
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引用次数: 0
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Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering
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