车辆队列自适应模型预测控制
Research on adaptive model predictive control of vehicle queue
于鑫雨 1李刚 1陈桂洋 1逄淑一1
作者信息
- 1. 辽宁工业大学 汽车与交通工程学院,辽宁 锦州 121001
- 折叠
摘要
为了解决车辆队列之间车间距过长且稳定收敛速度较慢情况,以及车辆队列前车急减速工况下易于出现后车与前车碰撞问题,研究了一种车辆队列自适应模型预测控制方法.建立了车辆队列模型,设计了一种改进的可变车头时矩的车间距算法,基于模型预测控制理论设计了上层控制器,后车根据前车信息计算加速度,设计模糊控制器对模型预测控制权重比进行动态调整,提高控制精度.在Matlab/Simulink和CarSim软件平台中建立联合仿真模型,设计仿真实验工况,进行对比实验验证.结果表明,文中提出的方法车间距控制效果好,收敛稳定速度快,提高了行驶安全性.
Abstract
To prevent the overly long workshop distance between vehicles in a queue and the low speed as well as to avoid collisions between the vehicles under the condition of rapid deceleration,we study an adaptive model predictive control method for the vehicle queue.Based on the model predictive control theory,the upper controller is designed.The rear car calculates the acceleration according to the information of the front one.The fuzzy controller is designed to dynamically adjust the weight ratio of the model predictive control to improve the control accuracy.The co-simulation model is built in MATLAB/Simulink and CarSim software platform.The experimental conditions are created and a comparison experiment is conducted.Results show our method achieves fairly good workshop distance control and fast convergence speed,improving the overall driving safety.
关键词
队列纵向控制/模型预测控制/车辆队列/安全性/模糊控制Key words
queue vertical control/distributed model predictive control/vehicle formation/stability/fuzzy control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据