Collaborative Adaptive Cruise Control Strategy for Heterogeneous Fleet Based on Fuzzy MPC
Taking the heterogeneous fleet consisting of electric vehicles with different dynamic parameters as the re-search object,a cooperative adaptive cruise control(CACC)system utilizing fuzzy control theory to modify the fixed weights of the original model predictive control(MPC)was proposed,which aimed to meet the performance require-ments of the mixed heterogeneous traffic flow such as following,safety and comfort.The longitudinal dynamic mod-els between the vehicles in the CACC system were constructed,and a discrete-state space equation was established.Corresponding objective optimization functions were created and solved with constraints.Fuzzy rules were designed to change the fixed weight coefficients of MPC related performance.Finally,a joint simulation model combining Simu-link and CarSim was constructed for testing.Experiment results demonstrate that the improved fuzzy MPC control algorithm outperforms the traditional MPC control algorithm in terms of control effect under the following driving conditions,which can better respond to the performance of heterogeneous fleet such as following,safety and com-fort,and better meet the actual driving situation of vehicles.
vehicle engineeringheterogeneous fleetcooperative adaptive cruise controlfuzzy controlmodel pre-dictive control
万方数据
维普
