智能车辆自适应巡航鲁棒控制研究

IF 2.6 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC World Electric Vehicle Journal Pub Date : 2023-09-25 DOI:10.3390/wevj14100268
Zhaoxin Zhu, Shaoyi Bei, Bo Li, Guosi Liu, Haoran Tang, Yunhai Zhu, Chencheng Gao
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引用次数: 0

摘要

为了提高自适应巡航控制系统在跟车模式下的抗干扰性和鲁棒性,本文基于μ控制理论,设计了一种包含上下两层结构的自适应巡航控制系统鲁棒控制器。上控制器一方面根据当前工况计算两车之间的理论安全距离,并通过基于安全距离和两车速度的最优控制方法计算车辆的期望加速度。另一方面,本文根据自适应巡航控制系统的性能要求,构建了汽车纵向动力学系统的低μ集成控制器,并在Matlab中进行了求解。然后,通过计算和仿真验证了所设计的双层LQR-μ控制器具有良好的鲁棒性和鲁棒稳定性,可以显著提高车辆在后续巡航过程中的抗干扰能力和行驶安全性能。
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Research on Robust Control of Intelligent Vehicle Adaptive Cruise
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower structures, based on the μ control theory. On the one hand, the upper controller calculates the theoretical safety distance between two automobiles based on the current working conditions, and it calculates the expected acceleration of the vehicle through an optimal control method based on the safety distance and two vehicle speeds. On the other hand, this paper constructs the lower μ integrated controller of an automobile longitudinal dynamics system based on the performance requirements of an adaptive cruise control system and solves it in Matlab. Then, through calculation and simulation, it demonstrates that the designed dual-layer LQR-μ controller has good performance robustness and robust stability, which can significantly improve the anti-interference ability and driving safety performance of the vehicle during the following cruise process.
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来源期刊
World Electric Vehicle Journal
World Electric Vehicle Journal Engineering-Automotive Engineering
CiteScore
4.50
自引率
8.70%
发文量
196
审稿时长
8 weeks
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