自适应巡航执行机构在环仿真跟随控制器设计

为解决自适应巡航控制快速原型开发并提高仿真系统精度,建立了包含电子节气门与主动制动等硬件在内的执行机构在环仿真系统. 利用模糊前馈与PI反馈设计了以距离偏差和速度偏差为输入,基于加速度控制的前车跟随控制器,使主车保持安全车距跟随前车车速行驶,利用执行机构在环仿真系统对开发的前车跟随控制器进行了验证. 结果表明仿真系统运行正常,前车跟随控制器可完成对主车的控制,并对主车参数的变化及环境扰动具有一定的抗干扰能力. 

Actuator in Loop Simulation and Design of Preceding Vehicle Tracking Controller for ACC System

To quickly evaluate the controller's performance and promote the simulation accuracy for the adaptive cruise control (ACC) system, the actuator in loop simulation (AILS) platform consisting of electronic throttle and active braking hardware system was built. A preceding vehicle tracking controller was designed with a fuzzy feed-forward and PI feedback controller. To keep the safe distance between vehicles, the designed tracking controller uses distance error and velocity error as its inputs. AILS simulation indicates that the simulation platform works well and the preceding vehicle tracking controller could function properly with insensitivity to the change of vehicle parameter and environment disturbance.