摘要
为提高自适应巡航系统对行车环境的适应性,提出一种基于可变间距的车辆跟驰控制策略。建立基于无迹卡尔曼滤波的车辆运动模型,近似估计本车质心轨迹的曲率半径。建立前车目标辨识模型,根据前车与本车的相对运动状态判定前车跟踪目标。设计车间距离控制策略,通过调节车速控制本车与前车保持安全车距行驶。开展本车换道、曲线路径的复合工况仿真试验,结果表明,本车能够快速、平稳地跟踪前车目标。
A car-following strategy based on the variable distance is proposed to improve the applicability of the ACC(Adaptive cruise control) system. The curvature radius of centroid trajectory of the host vehicle is computed by the kinetic model based on the unscented Kalman filter. In order to identify the car-following object, a vehicle tracking model is presented according to the relative kinetic states between the front vehicle and the host vehicle. The ACC system adjust the velocity of the host vehicle to control the safe distance between the host vehicle and the object vehicle. A complex condition with the lane-changing and curve route is simulated to test the car-following strategy. Results show that the host vehicle can track the object vehicle smoothly and quickly.
作者
翟志强
许进亮
袁皓
周永明
赵龙飞
王世谦
Zhai Zhiqiang;Xu Jinliang;Yuan Hao;Zhou Yongming;Zhao LongFei;Wang Shiqian(Beijing Institute of Space Launch Technology,Beijing 100076,China;College of Engineering,China Agricultural University,Beijing 100083,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2020年第5期885-891,共7页
Journal of System Simulation
基金
国家重点研发计划(2017YFD0700403)。
关键词
自适应巡航
跟驰模型
车辆动力学模型
无迹卡尔曼滤波
adaptive cruise control
car-following model
vehicle dynamic model
unscented Kalman filter
