基于改进MPC的协同自适应巡航控制策略研究

doi:10.16182/j.issn1004731x.joss.21-0388

摘要/Abstract

摘要：

针对环境干扰、传感器噪声和跟随时变车速稳定性较差等问题，提出一种基于KF(kalman filtering)的改进MPC(model predictive control)算法。搭建CACC(cooperative adaptive cruise control)车辆间纵向运动学模型，并建立离散状态空间方程；利用KF对状态变量降噪，同时对预测模型进行鲁棒性设计；对不同工况下CACC控制目标进行分析，分别建立目标优化函数。通过搭建Simulink与CarSim联合仿真模型进行验证，结果表明，改进MPC算法能够提高城市与市郊工况下车辆的燃油经济性与驾乘舒适性，实现公路工况下对时变车速的稳定跟随。

关键词: 车辆工程, 协同自适应巡航, 模型预测控制, 卡尔曼滤波, 时变车速

Abstract:

To solve the problems of environmental interference, sensor noise and poor tracking stability of time-varying speed, an improved MPC (model predictive control) algorithm based on KF (kalman filtering) is proposed. The longitudinal kinematics model of CACC(cooperative adaptive cruise control)between vehicles is established and the discrete state space equation is created. KF is used to reduce the noise of state variables, and at the same time, the prediction model is designed for robustness. The CACC control objectives are analyzed under different working conditions and the objective optimization functions are created. Verify by building Simulink and CarSim co-simulation model, the simulation results indicate that the improved MPC algorithm performs better, which improves economy of the fuel and driving comfort of vehicles, achieves stable tracking of time-varying speed.

Key words: automotive engineering, cooperative adaptive cruise, model predictive control, Kalman filter, time-varying speed

中图分类号:

王启明, 蒋江月, 吕志超, 张汉祖. 基于改进MPC的协同自适应巡航控制策略研究[J]. 系统仿真学报, 2022, 34(09): 2087-2097.

Qiming Wang, Jiangyue Jiang, Zhichao Lü, Hanzu Zhang. Research on Cooperative Adaptive Cruise Control Strategy Based on Improved MPC[J]. Journal of System Simulation, 2022, 34(09): 2087-2097.

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参数	数值
车辆质量/kg	1550
轴距/m	2.6
风阻系数/(kg·m^–2)	0.38
车轮半径/m	0.334
前轮转动惯量/(kg·m²)	1.8
后轮转动惯量/(kg·m²)	1.8
滚动阻力系数	0.02

排序	参数	值
1	控制时域c	5
2	预测时域p	10
3	控制量最大值u/(m·s^–2)	2.5
4	控制量最小值u/(m·s^–2)	–4.5
5	控制增量最大值Δu_max/(m·s^–3)	3
6	控制增量最小值Δu_min/(m·s^–3)	–3
7	加速度最大值a_max/(m·s^–2)	2.5
8	加速度最小值a_min/(m·s^–2)	–4.5

排序	时间/s	速度/(km·h^-1)
1	0~10	0~72
2	10~20	72~99
3	20~37.5	99~22.5
4	37.5~50	22.5~108
5	50~60	108~94.5

间距误差		均方根值/m/百分比%	最大值/m/百分比%
d_e_1-2	无滤波器	1.9634/-	5.5986/-
d_e_1-2	有滤波器	1.8385/6.36	4.9716/11.20
d_e_2-3	无滤波器	1.8785/-	5.1248/-
d_e_2-3	有滤波器	1.7919/6.60	4.2676/16.73

车速误差		均方根值/(m/s)百分比%	最大值/(m/s)/百分比%
v_e_1-2	无滤波器	0.9762/-	1.9898/-
v_e_1-2	有滤波器	0.9441/3.28	1.8607/6.49
v_e_2-3	无滤波器	0.9788/-	1.8371/-
v_e_2-3	有滤波器	0.9477/3.17	1.6556/9.88