In order to further improve the fuel economy of autonomous vehicle driving at intersections,this paper analyzed quantitatively the performance index functions and constraints including vehicle safety,economy,comfort,etc.,based on the Model Predictive Control(MPC)theory,and an ecological driving controller of autonomous vehicle at intersections was designed.The simulation results show that the control strategy proposed in the paper can ensure good safety and comfort,reduce fuel consumption by 15.83％and 34.98％respectively compared with Linear Quadratic Regulator(LQR)under conditions with/without vehicle ahead affecting vehicle driving.
维普
万方数据