一种汽车巡航控制的分层控制算法

为减轻驾驶员操作负荷,提高车辆行驶的安全性和舒适性,提出了一种自适应巡航分层控制算法,并通过调节电子节气门实现了在实车上的应用.在上层控制中,设计了一种基于驾驶员稳态跟车特性的线性跟车算法和可供选择的安全车距模型;在下层控制中研究了基于逆查询表的速度闭环控制策略.通过道路实验知识构建了节气门开度查询表,并结合增量式PID控制的精细调节,实现了良好的车速跟随效果.在此基础上,通过定速巡航实验和稳态跟车实验对所设计的控制算法进行了实车验证.实验结果表明,在正常行驶工况下,自适应巡航控制器能有效降低驾驶强度,对驾驶员具有良好的适应性和舒适性.

A Hierarchical Control Algorithm of Automobile Cruise System

To relieve driver's workload and improve driving safety and comfort, an algorithm with hierarchically configured architecture of adaptive cruise control (ACC) is proposed and it has been applied to vehicle by regulating the electronic throttle. In the upper layer control, a linear control algorithm depended on driver's steady car-following behavior and an alternative safe headway model was designed. In the bottom layer, the closed-loop velocity control strategy was constructed based on inverse query table. The throttle angle look-up table was set-up based on the knowledge acquired from vehicle test and precise velocity adjustment was applied with the increasing mode of PID control. Eventually, the good effect of velocity following was achieved. The cruise control and steady car-following experiments were implemented to verify the effectiveness of proposed control algorithm. The result shows that, the developed ACC controller can mitigate driving fatigue in normal driving situations effectively and has good performance of acceptance and comfort to driver.