汽车自适应巡航系统的多模式切换控制

在复杂交通环境下,由于前车运动状态和驾驶意图的不可预知性,使得传统的自适应巡航控制(Adaptive cruise system,ACC)的应用受到限制,因此提出一种多模式自适应巡航控制策略。在现有上、下位控制器的基础上增加模式切换层,通过将车辆纵向运动状态划分为八种工况,使得系统根据实际工况条件选择最优的控制模式,并采用加速度加权平均算法提高模式切换的准确性和输出连续性。分别设计定速巡航、稳态跟随、接近前车、强加速、强减速和避撞六种控制模式。基于每种模式侧重的控制目标,设计相应的上位控制器并对其控制参数进行整定,从而改善了系统整体的控制品质。最后通过实车试验验证了多模式切换算法的有效性和实用性。

Multi-mode Switching Controller for Vehicle Adaptive Cruise Control System

In the complicated traffic environment,the application of traditional adaptive cruise control is limited,because of the unpredictability of the leading vehicle in relative motion and driver’s intention.Hence,a multi-mode switching strategy for ACC is proposed.Based on the existing ACC hierarchical controller,a mode switching layer is added.Eight longitudinal driving conditions are defined and an optimal control mode should be determined according to the real driving conditions.Acceleration weighted average algorithm is adopted for the accuracy and output continuity during the switching.Six control modes including cruise mode,steady following mode,approaching mode,acceleration mode,hard braking mode and collision avoidance mode are designed.In order to improve the overall control quality,the corresponding upper controller is designed and variable parameters are set under different control objectives.Lastly,the vehicle test results verify the effectiveness and availability for the multi-mode ACC system.