本文關(guān)鍵詞： 自適應(yīng)巡航控制(ACC) 多目標(biāo)優(yōu)化 模型預(yù)測控制(MPC) 變權(quán)重系數(shù)方法 多模式的自適應(yīng)巡航系統(tǒng)　出處：《吉林大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：自適應(yīng)巡航(ACC)系統(tǒng)能夠代替駕駛員對車輛的縱向進(jìn)行控制,有效地減少了人為因素引發(fā)的交通事故,近年來得到了學(xué)者和汽車廠商的廣泛關(guān)注。針對目前ACC系統(tǒng)在設(shè)計(jì)過程中對舒適性和燃油經(jīng)濟(jì)性考慮不充分,且只能在特定簡單工況下實(shí)現(xiàn)跟車功能的特點(diǎn),本文提出在模型預(yù)測控制(MPC)框架下進(jìn)行系統(tǒng)設(shè)計(jì),同時(shí)兼顧車輛行駛過程中的安全性、跟車性、舒適性以及燃油經(jīng)濟(jì)性。為了適應(yīng)城市工況復(fù)雜多變的場景,提出變權(quán)重系數(shù)的方法以適應(yīng)不同工況的駕駛需求,同時(shí)針對多模式的ACC系統(tǒng)也展開研究。由于直接式控制結(jié)構(gòu)會(huì)影響系統(tǒng)的魯棒性,因此本文采用分層的控制方案來完成跟車系統(tǒng)的設(shè)計(jì)。對于上位控制器需要考慮車輛行駛過程中的多個(gè)目標(biāo),包括安全性、跟蹤性、舒適性以及燃油經(jīng)濟(jì)性,同時(shí)還要考慮實(shí)際車輛存在的各種約束,因此,選用能有效處理多目標(biāo)和系統(tǒng)約束的模型預(yù)測控制(MPC)方法;對于下位控制器要求實(shí)際加速度快速跟蹤上期望值,因此,選用前饋加反饋的控制方法,前饋控制有助于消除系統(tǒng)中非線性項(xiàng)的影響,反饋控制采用PID控制算法,能夠滿足系統(tǒng)的快速性要求。為了提高ACC系統(tǒng)對環(huán)境的適應(yīng)能力,本文提出一種變權(quán)重系數(shù)的方法,針對不同的行駛工況,采用模糊理論在線辨識(shí)目標(biāo)函數(shù)中跟車性以及舒適性的權(quán)重系數(shù),達(dá)到不同工況下對二者側(cè)重不同的目的。為了驗(yàn)證分層控制策略的有效性,針對五種典型的交通場景分別進(jìn)行多組離線仿真驗(yàn)證。結(jié)果表明,在不同的場景下本文設(shè)計(jì)的ACC系統(tǒng)均具有較好的跟蹤效果,同時(shí)車輛在行駛過程中能夠兼顧安全性與舒適性等多個(gè)行駛目標(biāo),車輛的狀態(tài)也具有平滑的瞬態(tài)響應(yīng)。由于真實(shí)的道路環(huán)境信息是復(fù)雜多變的,并且各種因素都可能對駕駛員的決策產(chǎn)生影響,而單一控制器參數(shù)相對固定,從而限制了ACC系統(tǒng)的適用范圍,因此,本文也對多模式的ACC系統(tǒng)展開研究。首先根據(jù)車輛行駛的緊急程度不同,將行駛工況具體劃分為巡航、加速接近前車、穩(wěn)態(tài)跟隨、減速接近前車以及緊急跟隨這五種不同的模式。針對每種模式重新調(diào)節(jié)目標(biāo)函數(shù)中的權(quán)重系數(shù)以及相應(yīng)的約束范圍,完成每種模式下控制器的設(shè)計(jì)。為了驗(yàn)證多模式ACC系統(tǒng)的有效性,首先在五種典型交通場景下進(jìn)行驗(yàn)證,其次,設(shè)置兩組極限行駛工況,仿真結(jié)果表明,在典型場景下多模式ACC系統(tǒng)具有很好的跟蹤效果,極限工況下,多模式ACC系統(tǒng)能夠及早的采取相應(yīng)的制動(dòng)措施,有效避免碰撞事故的發(fā)生,同時(shí)能夠兼顧車輛行駛的多個(gè)目標(biāo),其控制具有一定的平順性。本文以汽車ACC系統(tǒng)為研究對象,根據(jù)車間運(yùn)動(dòng)學(xué)的高階模型,在MPC框架下設(shè)計(jì)考慮多目標(biāo)上層控制器,面向車輛逆縱向動(dòng)力學(xué)模型設(shè)計(jì)前饋加反饋的下層控制器,同時(shí)為了增加對道路交通的適應(yīng)能力提出變權(quán)重系數(shù)的方法。為了擴(kuò)大ACC系統(tǒng)的適用范圍,提出多模式控制的思想。多組離線仿真結(jié)果表明,典型場景下兩種控制方案都具有良好的跟蹤效果和動(dòng)態(tài)響應(yīng),極限工況下,多模式ACC系統(tǒng)能夠通過緊急制動(dòng)避免碰撞事故的發(fā)生,從而擴(kuò)大了ACC系統(tǒng)的適用范圍。
[Abstract]:Adaptive cruise control (ACC) system can replace the driver for longitudinal control of the vehicle, and effectively reduce the traffic accidents caused by human factors, in recent years has been widespread concern of scholars and automobile manufacturers. In view of the current ACC system in the design process of comfort and fuel economy is not adequately considered, and can only be achieved with the car features the function in certain simple conditions, this paper proposed in model predictive control (MPC) system design framework, taking into account the traffic safety in the process, with the car, comfort and fuel economy. In order to adapt to the complex conditions of the city scene, put forward method of variable weight coefficient to adapt to different conditions at the same time for driving demand, multi mode ACC system is also studied. Because of the direct type control structure will affect the robustness of the system, this paper adopts the hierarchical control scheme to complete The car with the design of the system. For the host controller requires multiple objectives into consideration in the vehicle running process, including safety, tracking, comfort and fuel economy, but also to consider a variety of constraints, the actual vehicle in use can effectively handle multiple objectives and system constraints, model predictive control (MPC) method; for the requirements of the actual controller acceleration fast track the expectations, therefore, the control method of feedforward and feedback, help to eliminate the effect of nonlinearity in the system of feedforward control, feedback control using the PID control algorithm can meet the fast system requirements. In order to improve the ability to adapt to the ACC system on the environment, this paper proposes a method of variable weight coefficient, according to different driving conditions, using the fuzzy theory for online identification of objective function with the car and the weight coefficient of comfort, reached under different conditions The purpose of the two is different. In order to verify the effectiveness of the hierarchical control strategy, aiming at five typical traffic scenes were multi group offline simulation. Results show that in different situations this paper designs the ACC system has a better tracking effect, while the vehicle can satisfy the safety and comfort of a number moving target in the running process, the transient response of vehicle state also has a smooth. Because the information real road environment is complex and changeable, and various factors may affect the driver's decision, and a single controller parameter is relatively fixed, thus limiting the scope of the ACC system, so this paper also begin to study more the model of ACC system. According to the level of emergency vehicles in different driving conditions, will be divided into specific cruise speed, close to the car in front, with steady deceleration, close to the car in front and tight Anxious to follow these five different modes. For each mode re adjust the weight coefficients in the objective function and constraint range, complete the design of controller for each mode. In order to verify the effectiveness of multi mode ACC system, first verify, in five typical traffic scenarios, secondly, set up two sets of limit driving conditions, the simulation results show that in typical scenarios of multi mode ACC system has a good tracking effect, under extreme conditions, the multi mode ACC system can take corresponding measures to brake, effectively avoiding collision, and can take into account the multiple target vehicle, the control has a certain comfort. Based on vehicle ACC system as the research object, according to the high order model workshop kinematics, multi targets upper controller design under the framework of MPC, the vehicle longitudinal dynamics model for inverse design of feedforward inverse The lower controller is fed at the same time, in order to increase the ability to adapt to road traffic is proposed variable weight coefficient. In order to expand the scope of the ACC system, the multi mode control idea. Many groups of offline simulation results show that the two control schemes of typical scenes has good tracking effect and dynamic response, under extreme conditions, multi mode ACC system can use the emergency brake to avoid collision accidents, so as to expand the scope of the ACC system.

【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U463.6;TP273

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