Model-reference based adaptive cruise control method of car-following system

A technology of adaptive control and vehicle following, which is applied in the field of establishing the reference model of the vehicle following system, and can solve problems such as failure to give

Inactive Publication Date: 2014-04-30
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the speed, acceleration and vehicle distance control are difficult to synchronize in the current vehicle following control system,

Method used

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  • Model-reference based adaptive cruise control method of car-following system
  • Model-reference based adaptive cruise control method of car-following system
  • Model-reference based adaptive cruise control method of car-following system

Examples

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example

[0156] The technical scheme of the present invention is verified below in conjunction with a simulation example.

[0157] The initial parameters of the car-following system are as follows: =100m, =6200m, =20m / s, =45m / s, =-1.1m / s 2 , =5% and =1m / s.

[0158] The control strategy adopted by the vehicle in front is shown in formula (15).

[0159] (15)

[0160] The specific implementation steps of the technical solution of the present invention are as follows in this example:

[0161] step 1: Build a car-following system model. For the block diagram of the car following system, see figure 1 shown. The mathematical model of the car-following system is as follows.

[0162]

[0163]

[0164] step 2 : Establish a reference model for car-following control, its block diagram is shown in figure 2 shown. The mathematical description of the reference model is as follows

[0165]

[0166] step 3 : Real-time calculation of ...

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Abstract

The invention belongs to the technical field of car-following control and particularly relates to establishment of car-following system reference models and the adaptive optimization problem based on division of following states of car distance and speed and behaviors of behind-cars under the specific following states. The adaptive cruise control method is implemented by steps including: 1, establishing a car-following system model; 2, establishing the reference model of car-following control; 3, calculating dynamic safe car distance in real time; 4, according to the current specific car-following state, selecting a corresponding behind-car behavior modification mathematical model and calculating the control law of the car-following system in real time; 5, implementing the control law and achieving behind-car behavior modification; 6, detecting the following state of the following system in real time during modification of behind-car behaviors, turning to the step 4, and executing circularly. During the course that a behind car follows a front car, the control law for modifying self-behaviors is calculated in real time according to the current following state and car performance, behavior and vehicle distance information, so that the following operation which is safe, efficient and stable (comfortable) can be realized.

Description

technical field [0001] The invention belongs to the technical field of car-following control in transportation systems, and in particular relates to the establishment of a reference model of a car-following system, the division of car-following states based on vehicle distance and speed, and the mathematical model of the behavior of the following car in each specific car-following state and adaptive optimization problems. Background technique [0002] Adaptive cruise control (ACC) has been used in car-following systems for decades. Many researchers are working on the combination of adaptive control technology and other advanced technologies to improve the safety, efficiency and stability (comfort) of car-following. At present, adaptive cruise control is still a hot issue in the research field of vehicle following control. Desjardins and Chaib-draa used function approximation technology to solve the control strategy of vehicle adaptive cruise system, which greatly guarantee...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 潘登夏易君
Owner TONGJI UNIV
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