摘要
针对传统自适应巡航控制(ACC)系统在遇到前方低速车辆时仅能保持低速跟驰的局限性,开发了一种具有换道功能的ACC系统。首先将驾驶模式细分为定速巡航、跟随巡航和换道巡航,并基于速度不满度制定了多模式切换策略以灵活应对不同的驾驶场景和驾驶员需求,然后,在现有ACC系统的基础上加入主动换道功能,应用五次多项式精确规划换道轨迹,基于模型预测控制(MPC)算法构建了换道巡航轨迹跟踪控制器。最后,基于MATLAB/Simulink/CarSim对所搭建的控制器进行验证,结果表明,该策略可以实现符合驾驶员意图的主动换道功能。
To address the challenge where the traditional Adaptive Cruise Control(ACC)are limited to maintain low-speed following when encountering a low-speed vehicle in front,an ACC control system with lane change function is developed.Firstly the system subdivides the driving modes into three types:cruise control,cruise following and lane change cruise,and a multi-mode switching strategy based on speed dissatisfaction is formulated to flexibly respond to different driving scenarios and driver’s needs.On the basis of the existing adaptive cruise system,the active lane change function is added,and the quintic polynomial is used to accurately plan the lane change trajectory,and then the lane change cruise trajectory tracking controller is constructed based on the Model Predictive Control(MPC)algorithm.Finally,the controller is verified based on MATLAB/Simulink/CarSim.The simulation results show that the proposed strategy meets the requirements of active lane change in line with the driver’s intention.
作者
武子为
秦玉英
Wu Ziwei;Qin Yuying(Liaoning University of Technology,Jinzhou 121001)
出处
《汽车工程师》
2025年第8期42-48,共7页
Automotive Engineer
关键词
自适应巡航控制
模型预测控制
主动换道
五次多项式
Adaptive Cruise Control(ACC)
Model Predictive Control(MPC)
Lane change
Quintic polynomial
