基于多模式切换的智能汽车自适应巡航控制研究Study on Adaptive Cruise Control of Intelligent Vehicles Based on Multi-Mode Switching
刘明春;涂桃;黄菊花;宁予;
摘要(Abstract)：
针对前车运动状态和驾驶意图的不可预知性导致传统自适应巡航控制(ACC)系统应用受限的问题,设计了一种多模式切换的自适应巡航控制方法。根据自车与前车的运动学关系划分行驶模式,采用紧急系数表征各行驶模式下的危险程度;设计模糊控制器调节模型预测控制(MPC)中目标函数的权重值,以满足不同工况下跟车性和舒适性的需求差异,实现不同控制模式间的切换。仿真结果表明,多模式切换控制方法有效提高了车辆跟车性和舒适性,在各种工况下取得了优良的控制效果。
关键词(KeyWords)： 自适应巡航控制;多模式切换;模型预测控制;模糊控制;PID
基金项目(Foundation): 国家自然科学基金项目（51605124）
作者(Authors): 刘明春;涂桃;黄菊花;宁予;
DOI: 10.19620/j.cnki.1000-3703.20191442
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