【作者】 张敏；

【导师】 覃频频；

【作者基本信息】 广西大学 ， 机械工程（专业学位）， 2020， 硕士

【摘要】 随着现代汽车与通信技术的进步以及交通拥堵、环境污染等问题也越来越严重,电动化、网联化、智能化以及共享化已经成为未来汽车行业必然的发展趋势。对智能网联车辆队列行驶的舒适性研究,可以有效的提高交通运输效率,降低交通拥堵及事故的发生,提升乘驾人员的乘坐体验,推动智能网联车辆更好的发展。本文拟从微观和宏观两个方面对高速公路环境下智能网联车辆队列行驶时的舒适性进行研究,主要的研究内容如下:首先选择智能驾驶员模型(Intelligent Driver Model,IDM)作为智能网联车辆的跟驰模型,并对IDM模型进行改进。采用改进的IDM模型为基础搭建上层控制器,根据车辆逆向动力学等设计下层控制器,由上层控制器和下层控制器构成智能网联车辆的纵向控制器。在MATLAB/Simulink与Car Sim联合仿真平台中对纵向控制器的性能进行仿真验证。其次以车辆三自由度动力学模型、转向预瞄模型为基础,通过模糊PID控制算法搭建智能网联车辆的横向控制器。以横向加速度的误差f(e)和误差变化率f(e_c)作为模糊PID控制器的输入量,方向盘转角作为模糊PID控制器的输出量。通过Car Sim软件搭建双移线道路场景对横向控制器的性能进行仿真验证。然后从微观和宏观两方面建立舒适性评价方法。微观方面以国际标准ISO2631作为主要评价方法,并加入加速度干扰指标辅助评价;宏观方面通过交通流状态和其对应的密度、交通流舒适度C_t建立相应的评价标准。此外也考虑到车队行驶时的稳定性和安全性问题,并给出了评价方法。最后通过MATLAB/Simulink和Car Sim联合仿真,探究道路线形、行驶速度以及车头时距对智能网联车队舒适性的影响。此外,还与人工驾驶车辆组成车队的行车舒适性进行了对比。更多还原

【Abstract】 With the progress of modern automobile and communication technology,traffic congestion,environmental pollution and other problems are getting worse.Electrification,networking,intelligence and sharing have become the inevitable development trend of the future automobile industry.The research on the comfort of Intelligent Connected Vehicles(ICV)platoon driving can effectively improve the transportation efficiency,reduce traffic congestion and accidents,improve the riding experience of passengers,and promote the better development of Intelligent Connected Vehicles.This paper intends to study the comfort of Intelligent Connected Vehicles platoon driving in expressway environment from micro and macro aspects.The main contents of this paper are as follows:Firstly,the intelligent driver model(IDM)is selected as the car following model of Intelligent Connected Vehicles,and the IDM model is improved.The upper controller is built based on the improved IDM model,and the lower controller is designed according to vehicle reverse dynamics.The longitudinal controller of Intelligent Connected Vehicles is composed of upper controller and lower controller.The performance of the longitudinal controller is simulated and verified in the joint simulation platform of MATLAB/Simulink and Car Sim.Secondly,based on the vehicle three degree of freedom dynamic model and steering preview model,the lateral controller of Intelligent Connected Vehicles is built by fuzzy PID control algorithm.The lateral acceleration error f(e)and error change rate f(e_c)are taken as the input of fuzzy PID controller,and the steering wheel angle is taken as the output of fuzzy PID controller.The performance of the lateral controller is simulated and verified by setting up a double lane change scenario with Car Sim software.Then,the comfort evaluation method is established from the micro and macro aspects.In the micro aspect,the international standard ISO2631is used as the main evaluation method,and the acceleration noise index is added to assist the evaluation;in the macro aspect,the corresponding evaluation criteria are established by the traffic flow state and its corresponding density,traffic flow comfort C_t.In addition,the stability and safety of the platoon driving are also taken into account,and the corresponding evaluation methods are also given.Finally,the joint simulation of MATLAB/Simulink and Car Sim is used to explore the influence of road alignment,driving speed and headway on the comfort of Intelligent Connected Vehicles platoon driving.In addition,the comfort on platoon driving composed of manual driving vehicles is compared with Intelligent Connected Vehicles.更多还原