自适应巡航系统车辆跟驰控制策略仿真

doi:10.16182/j.issn1004731x.joss.18-0646

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (5): 885-891.doi: 10.16182/j.issn1004731x.joss.18-0646

• 仿真模型/系统置信度评估技术 • 上一篇下一篇

自适应巡航系统车辆跟驰控制策略仿真

翟志强^1,2*, 许进亮¹, 袁皓¹, 周永明¹, 赵龙飞¹, 王世谦¹

1. 北京航天发射技术研究所,北京 100076;
2. 中国农业大学工学院,北京 100083

收稿日期:2018-09-28 修回日期:2019-01-22 出版日期:2020-05-18 发布日期:2020-05-15
作者简介:翟志强(1989-),男,内蒙古赤峰,博士,研究方向为车辆辅助驾驶技术;许进亮(1980-),男,河北廊坊,硕士,高工,研究方向为车辆控制系统设计;袁皓(1979-),男,云南大理,本科,工程师,研究方向为车辆控制系统设计。
基金资助:
国家重点研发计划（2017YFD0700403）

Simulation on a Car-following Strategy for Adaptive Cruise Control System

Zhai Zhiqiang^1,2*, Xu Jinliang¹, Yuan Hao¹, Zhou Yongming¹, Zhao LongFei¹, Wang Shiqian¹

1. Beijing Institute of Space Launch Technology, Beijing 100076, China;
2. College of Engineering, China Agricultural University, Beijing 100083, China

Received:2018-09-28 Revised:2019-01-22 Online:2020-05-18 Published:2020-05-15

摘要/Abstract

摘要： 为提高自适应巡航系统对行车环境的适应性,提出一种基于可变间距的车辆跟驰控制策略。建立基于无迹卡尔曼滤波的车辆运动模型,近似估计本车质心轨迹的曲率半径。建立前车目标辨识模型,根据前车与本车的相对运动状态判定前车跟踪目标。设计车间距离控制策略,通过调节车速控制本车与前车保持安全车距行驶。开展本车换道、曲线路径的复合工况仿真试验,结果表明,本车能够快速、平稳地跟踪前车目标。

关键词: 自适应巡航, 跟驰模型, 车辆动力学模型, 无迹卡尔曼滤波

Abstract: A car-following strategy based on the variable distance is proposed to improve the applicability of the ACC (Adaptive cruise control) system. The curvature radius of centroid trajectory of the host vehicle is computed by the kinetic model based on the unscented Kalman filter. In order to identify the car-following object, a vehicle tracking model is presented according to the relative kinetic states between the front vehicle and the host vehicle. The ACC system adjust the velocity of the host vehicle to control the safe distance between the host vehicle and the object vehicle. A complex condition with the lane-changing and curve route is simulated to test the car-following strategy. Results show that the host vehicle can track the object vehicle smoothly and quickly.

Key words: adaptive cruise control, car-following model, vehicle dynamic model, unscented Kalman filter

中图分类号:

翟志强, 许进亮, 袁皓, 周永明, 赵龙飞, 王世谦. 自适应巡航系统车辆跟驰控制策略仿真[J]. 系统仿真学报, 2020, 32(5): 885-891.

Zhai Zhiqiang, Xu Jinliang, Yuan Hao, Zhou Yongming, Zhao LongFei, Wang Shiqian. Simulation on a Car-following Strategy for Adaptive Cruise Control System[J]. Journal of System Simulation, 2020, 32(5): 885-891.

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自适应巡航系统车辆跟驰控制策略仿真

Simulation on a Car-following Strategy for Adaptive Cruise Control System

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