【作者】 于树友； 刘郡亭； 王硕； 林宝君； 陈虹；

【Author】 Shuyou Yu;Junting Liu;Shuo Wang;Baojun Lin;Hong Chen;State Key Laboratory of Automotive Simulation and Control, Jilin University;College of Communication Engineering, Jilin University;

【机构】 吉林大学汽车仿真与控制国家重点实验室； 吉林大学通信工程学院； 同济大学电子与信息工程学院；

【摘要】 本文提出一种考虑路面附着系数变化的商用车自适应巡航控制策略.在商用车中采集车辆输入输出数据,根据数据拟合商用车线性变参数(Linear Parameter-Varying, LPV)模型,该模型根据路面附着系数大小来调整线性模型的系统矩阵,使得LPV模型能准确表征不同路面附着系数下的车辆动力学特性.采用车道保持模型来预测车辆与道路中心线的误差,使车辆保持在指定车道内.建立一种考虑路面附着系数、前车速度以及本车速度的安全车间距模型,基于拟合的商用车LPV模型与车道保持模型设计模型预测控制器,并在MATLAB/Simulink与TruckSim联合仿真环境中在不同工况下对比了所提控制算法与非线性模型预测控制器的纵向跟踪能力与车道保持性能,验证本文所提出算法的有效性.更多还原

【Abstract】 In this paper, an adaptive cruise control strategy for truck considering the change of road adhesion coefficient is proposed. The truck input and output datas are collected, and Linear Parameter-Varying(LPV) model are fitted. The LPV model can adjust the system matrix of the linear model according to the road adhesion coefficient, thus LPV model can accurately characterize the vehicle dynamics under different road adhesion coefficients. In addition, LPV model can avoid solving nonlinear optimization problems, reducing the computational burden. The lane-keeping model is used to predict the error between the vehicle and the center line of the road. A safety distance model was established considering the road adhesion coefficient,preceding vehicle velocity and own vehicle velocity. The model predictive controller is designed based on the fitted truck LPV model and lane keeping model, and the longitudinal tracking capability and lane keeping performance is compared with the nonlinear model predictive controller in the joint simulation environment of MATLAB/Simulink and TruckSim.更多还原