考虑驾驶员特性的智能车辆纵向车速跟随控制策略

郭璧玺; 王伟; 陶小松; 杜兴乐; 郭金刚

doi:10.13433/j.cnki.1003-8728.20200125

考虑驾驶员特性的智能车辆纵向车速跟随控制策略

doi: 10.13433/j.cnki.1003-8728.20200125

长安大学汽车学院, 西安 710064

基金项目:

陕西省自然科学基础研究计划项目 2017JM5139

详细信息

作者简介:
郭璧玺(1996-), 硕士研究生、研究方向为智能车辆横纵向运动控制技术研究, 617797124@qq.com

通讯作者:
郭金刚, 副教授, 硕士生导师, guojg@chd.edu.cn

中图分类号: U461
计量
- 文章访问数: 210
- HTML全文浏览量: 72
- PDF下载量: 37
- 被引次数: 0
出版历程
- 收稿日期: 2020-01-17
- 刊出日期: 2021-05-01

An Intelligent Vehicle Longitudinal Speed Following Control Strategy with Driver Characteristics Considered

School of Automotive Engineering, Chang′an University, Xi′an 710064, China

摘要

摘要: 为了在满足乘坐舒适性的前提下提高智能车辆纵向车速跟随控制的精度，提出了一种具有自适应控制系统特性符合驾驶意图以及驾驶员行为特性的纵向控制策略。首先，设计油门和制动切换策略，依据期望车速计算期望加/减速度，并以此获得驾驶意图完成油门和制动的切换控制；其次，提出了一种基于模糊控制的制动控制策略；除此之外，设计了一种比例增益可调的PI油门控制策略。最后，将本文所设计的控制策略与目前普遍研究的PID车速跟踪控制策略分别进行NI实时系统仿真测试。结果表明：本文提出的基于驾驶员特性的车速跟踪控制器有效提高了对参考车速的跟踪精度以及乘坐舒适性。
- 驾驶员意图 /
- 驾驶员行为特性 /
- 车速控制 /
- 模糊控制 /
- NI实时系统
Abstract: In order to improve the accuracy of a smart vehicle′s longitudinal speed following control on the premise of satisfying the ride comfort, we propose a longitudinal control strategy that is consistent with driving intention and driver behavior characteristics. First, we design the throttle and brake switching strategy, calculate the expected acceleration / deceleration according to the expected speed of the vehicle so as to obtain the driving intention, complete the throttle and brake switching control. Second, we propose a braking control strategy based on fuzzy control. In addition, a PI throttle control strategy with adjustable proportional gain is designed. In the end, the control strategy and the PID vehicle speed tracking control strategy designed in this paper are used to simulate the NI real-time system. The simulation results show that the driver speed-based tracking controller proposed in this paper effectively improves the reference vehicle speed following precision and ride comfort.
- driver intention /
- driver behavior characteristics /
- vehicle speed control /
- fuzzy control /
- NI real-time system

HTML全文

图 1 基于模糊控制的制动控制系统框图

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图 2 变量的隶属度函数

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图 3 输入输出曲面视图

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图 4 实时系统测试平台架构

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图 5 PID车速跟踪控制算法的控制曲线

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图 6 基于驾驶员特性的车速跟踪控制算法控制曲线

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表 1 模糊控制规则

x₀	y₀
x₀	NV	NB	NM	NS	NO
NV	PV	PV	PB	PB	PM
NB	PV	PB	PB	PM	PM
NM	PB	PM	PM	PS	PS
NS	PB	PM	PS	PS	PO
NO	PS	PS	PO	PO	PO

下载: 导出CSV

参考文献(16)

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