本文關鍵詞：車輛模型預測巡航控制系統(tǒng)的分析與設計　出處：《浙江工業(yè)大學》2016年碩士論文　論文類型：學位論文

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【摘要】：車輛自適應巡航控制(ACC)系統(tǒng)是一種先進的車輛輔助駕駛系統(tǒng),它能減輕駕駛人員的工作負擔、減少錯誤駕駛和疲勞駕駛的狀況,提高駕駛的舒適性和安全性以及道路通行能力,減少燃料消耗。傳統(tǒng)ACC指在跟蹤前面車輛的行駛中保持期望的車輛間距或保持期望的行駛車速。近年來,國內(nèi)外相關學者對提高車輛燃油經(jīng)濟性和減少車輛尾氣排放做了深入的研究,提出了車輛經(jīng)濟駕駛概念。因此,如何實現(xiàn)車輛經(jīng)濟性巡航控制是車輛ACC技術亟待解決的難點和熱點問題,具有重要的理論意義和應用價值。本文在總結現(xiàn)有車輛巡航控制技術的基礎上,運用理想點優(yōu)化法和模型預測控制技術,提出了一種新的車輛多目標預測巡航控制策略,使車輛巡航系統(tǒng)的各個目標性能逼近理想最優(yōu)點。本文主要研究工作與創(chuàng)新點如下:(1)定性分析了車輛巡航系統(tǒng)的多個目標性能之間的沖突性與矛盾性。通過數(shù)學建模將各目標性能用數(shù)學公式表示出來。(2)現(xiàn)有車輛巡航控制系統(tǒng)大多針對單個目標進行控制,無法滿足車輛多個目標性能之間的同步優(yōu)化控制。論文將多目標優(yōu)化和模型預測控制引入到ACC系統(tǒng)的設計與分析中,提出了一種新的多目標模型預測巡航控制策略來解決車輛巡航控制系統(tǒng)中多目標性能的優(yōu)化問題。這種新的預測巡航控制器使得本車可以跟蹤前方車輛的行駛并且使得本車具有最優(yōu)的燃油經(jīng)濟性。在車輛巡航控制系統(tǒng)中引入了理想點概念的方法。它主要是使總的目標優(yōu)化函數(shù)到各自獨立目標函數(shù)最小值矢量點的間距離最小化來達到優(yōu)化目的。該方法的主要優(yōu)點是不需要對各目標函數(shù)加上相應的懲罰項,即不需要對各目標函數(shù)的重要性進行人工的加權干預。使得車輛ACC系統(tǒng)具有更好的漸進穩(wěn)定性。這種新算法主要是把理想點法加入到模型預測控制(MPC)方法中得到一個理想點跟蹤的預測巡航控制器。進一步,結合車輛巡航控制過程中的內(nèi)在外在的約束條件(如車輛速度大小、油門踏板和剎車踏板的開度等)建立車輛巡航控制系統(tǒng)的狀態(tài)空間模型。并在不同的車輛運行工況下,將該新算法的車輛運行仿真結果與采用常規(guī)的加權模型預測控制(MPC)的算法和采用智能驅(qū)動模型(IDM)算法的車輛控制進行實驗對比。顯示出本文所提方法的實用性和優(yōu)越性。(3)設計并開發(fā)了車輛自適應巡航控制系統(tǒng)演示軟件,比較分析了多種自適應巡航控制算法控制效果。選擇JAVA語言作為軟件開發(fā)的編程語言。因為其面向?qū)ο缶幊痰奶匦?能夠更好的展現(xiàn)出我們所需要的圖形化效果,使得算法的內(nèi)容可視化。而且該語言具有跨平臺的特性,使的軟件可以不受計算機硬件和操作系統(tǒng)的約束而在任意計算機環(huán)境下正常運行。
[Abstract]:The vehicle adaptive cruise control system (ACCS) is an advanced vehicle-assisted driving system, which can reduce the workload of drivers and reduce the condition of wrong driving and fatigue driving. Improve driving comfort and safety and road capacity, reduce fuel consumption. Traditional ACC refers to keeping the desired vehicle spacing or speed in tracking the vehicles in front of the vehicle. In recent years. Related scholars at home and abroad have done in-depth research on improving vehicle fuel economy and reducing vehicle exhaust emissions, and put forward the concept of vehicle economic driving. How to realize the vehicle economic cruise control is a difficult and hot problem to be solved urgently in vehicle ACC technology, which has important theoretical significance and application value. This paper summarizes the existing vehicle cruise control technology. Using ideal point optimization method and model predictive control technology, a new vehicle multi-objective predictive cruise control strategy is proposed. In this paper, the main research work and innovation are as follows: 1). This paper qualitatively analyzes the conflict and contradiction between the performance of multiple targets of vehicle cruise system. The performance of each target is represented by mathematical formula by mathematical modeling. Most of the existing vehicle cruise control systems are aimed at a single target. This paper introduces multi-objective optimization and model predictive control into the design and analysis of ACC system. A new multi-objective model predictive cruise control strategy is proposed to solve the multi-objective performance optimization problem in the vehicle cruise control system. This new predictive cruise controller enables the vehicle to track the vehicle in front of the vehicle. The concept of ideal point is introduced into the vehicle cruise control system. The method is mainly to make the distance between the total objective optimization function and the minimum vector point of the respective independent objective function the distance between the total objective optimization function and the minimum vector point of the respective independent objective function. The main advantage of this method is that it does not need to add corresponding penalty terms to each objective function. That is, the importance of each objective function does not need to be artificially weighted, which makes the vehicle ACC system more asymptotically stable. This new algorithm mainly adds the ideal point method to the predictive control of the model. An ideal point tracking predictive cruise controller is obtained in the MPC method. Combined with the internal and external constraints (such as vehicle speed) in the vehicle cruise control process. The opening degree of throttle pedal and brake pedal etc.) the state space model of vehicle cruise control system is established. The simulation results of the new algorithm are compared with the conventional weighted model predictive control (MPC) algorithm and the intelligent driving model (IDM). Experimental results show that the proposed method is practical and superior. (3) the demonstration software of vehicle adaptive cruise control system is designed and developed. The control effects of various adaptive cruise control algorithms are compared and analyzed. JAVA language is chosen as the programming language for software development because of its object-oriented programming characteristics. It can better show the graphical effect that we need, make the content visualization of the algorithm, and the language has the characteristics of cross-platform. The software can operate normally in any computer environment without the restriction of computer hardware and operating system.
【學位授予單位】：浙江工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U463.6

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