Research on Cooperative Adaptive Cruise Control Strategy Based on Improved MPC

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

Abstract

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

CLC Number:

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