天津职业技术师范大学学报

单一的自动巡航控制系统(ACC)在道路交通环境突变的情况下适应性较差,车辆易失稳导致交通事故的发生,为应对类似环境突变的交通场景,提高车辆的安全性,开发了ACC与ABS协同控制算法。该算法设计了分层式ACC控制器:上层控制器基于模型预测控制理论,根据传感器信息及车辆状态求解车辆期望加速度;下层控制器采用PID控制方法及驾驶员模型来响应上层控制器的期望加速度。利用ABS系统实时检测车辆状态,在车辆即将失稳时介入以保证行车安全。仿真结果表明:与单一ACC系统相比,ACC/ABS协同控制策略能够保证在道路交通环境突变下的行车安全。

The single adaptive cruise control(ACC) system has poor adaptability to sudden changes in road traffic environment,and vehicles are prone to destabilization which leads to traffic accidents. In order to cope with such traffic scenarios with sudden changes in environment,a coordinated control algorithm between ACC and ABS has been developed to improve vehicle safety. A layered ACC controller was designed in this algorithm. The upper controller is based on the model predictive control theory and calculates the expected acceleration of the vehicle based on the sensor information and vehicle status. The lower controller uses the PID control and driver model to respond to the expected acceleration of the upper controller. At the same time,the ABS system was used to detect the state of the vehicle in real time,and intervenes when the vehicle is about to lose stability to ensure driving safety. The simulation results show that compared with a single ACC system,the ACC/ABS cooperative control strategy can ensure driving safety in the event of sudden changes in road traffic environment.