| Longitudinal Control Strategy for Vehicle Adaptive Cruise Control Systems |
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| 作者姓名： | 吴利军 刘昭度 马岳峰 |
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| 作者单位： | School of Mechanical and Vehicular Engineering Beijing Institute of Technology Beijing 100081，China，School of Mechanical and Vehicular Engineering，Beijing Institute of Technology Beijing 100081，China，School of Mechanical and Vehicular Engineering，Beijing Institute of Technology Beijing 100081，China |
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| 摘 要： | A new longitudinal control strategy for vehicle adaptive cruise control (ACC) systems is presented. The running relationship between the ACC vehicle and the detected target vehicle is described by the relative velocity and the deviation between the actual headway distance and the prescribed safety distance. Based on this, two state space models are built and the linear quadratic optimal control theory is used to yield desired velocity for the ACC-equipped vehicle when with the target vehicle detected. By switching among four control modes, the desired velocity profile is designed to deal with different running situations. A velocity controller, which includes a PID controller for throttle openness and a neural network controller for brake application, is developed to achieve the desired velocity profile. The proposed control strategy is applied to a non-linear vehicle model in a simulation environment and is shown to provide the ACC vehicle comfortable ride and satisfying safety.
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| 关 键 词： | 车辆自适应巡航控制系统 纵向控制策略 线性二次方程 神经网络 制动器 |
| 文章编号： | 1004-0579（2007）01-0028-06 |
| 收稿时间： | 2005-11-03 |
Longitudinal Control Strategy f or Vehicle Adaptive Cruise Control Systems |
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| WU Li-jun,LIU Zhao-du and MA Yue-feng.Longitudinal Control Strategy for Vehicle Adaptive Cruise Control Systems[J].Journal of Beijing Institute of Technology,2007,16(1):28-33. |
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| Authors: | WU Li-jun LIU Zhao-du and MA Yue-feng |
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| Affiliation: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | A new longitudinal control strategy for vehicle adaptive cruise control (ACC) systems is presented.The running relationship between the ACC vehicle and the detected target vehicle is described by the relative velocity and the deviation between the actual headway distance and the prescribed safety distance.Based on this,two state space models are built and the linear quadratic optimal control theory is used to yield desired velocity for the ACC-equipped vehicle when with the target vehicle detected.By switching among four control modes,the desired velocity profile is designed to deal with different running situations.A velocity controller,which includes a PID controller for throttle openness and a neural network controller for brake application,is developed to achieve the desired velocity profile.The proposed control strategy is applied to a non-linear vehicle model in a simulation environment and is shown to provide the ACC vehicle comfortable ride and satisfying safety. |
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| Keywords: | adaptive cruise control (ACC) linear quadratic throttle/brake control neural network |
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