| 基于改进MPC的协同自适应巡航控制策略研究 |
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| 引用本文： | 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(9):2087-2097. |
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| 作者姓名： | 王启明 蒋江月 吕志超 张汉祖 |
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| 作者单位： | 1.上海理工大学 机械工程学院，上海 2000932.同济大学 汽车学院，上海 201804 |
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| 基金项目： | 国家自然科学基金(51575232);上海市科委青年科技英才扬帆计划(19YF1434600) |
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| 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。
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| 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 |
| 收稿时间： | 2021-04-30 |
Research on Cooperative Adaptive Cruise Control Strategy Based on Improved MPC |
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| 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(9):2087-2097. |
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| Authors: | Qiming Wang Jiangyue Jiang Zhichao Lü Hanzu Zhang |
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| Affiliation: | 1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China2.College of Automotive Studies, Tongji University, Shanghai 201804, China |
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| 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. |
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| Keywords: | automotive engineering cooperative adaptive cruise model predictive control Kalman filter time-varying speed |
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