|
|
|
| Longitudinal following control of intelligent vehicle fleet based on fuzzy MPC |
| 1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang， Jiangsu 212013, China； 2. Guangde Branch of SAIC General Motors Co., Ltd., Xuancheng, Anhui 242000， China |
|
|
|
|
Abstract To solve the problems of low efficiency and unstable system in the traditional control, a longitudinal following model of the intelligent vehicle fleet was proposed based on the fuzzy model predictive control (MPC) method. According to the longitudinal following model of the fleet, the objective function of MPC including following performance and riding comfort was derived, and the fuzzy strategy was introduced based on the MPC controller. The followability weight coefficient in the MPC objective function was adjusted in real time, and the ideal acceleration was outputted to meet the needs of the driving scene. The lower-level controller was established by combining the longitudinal inverse dynamics model and PID control to convert the expected acceleration into throttle opening or brake pressure. The joint simulation platform of Carsim and Simulink was established to simulate the high-speed driving conditions of the intelligent vehicle fleet, and the simulation result was compared with those of PID method and traditional MPC method, respectively. The results show that the dynamic parameters of the fuzzy MPC controller under highspeed conditions can meet the constraints with the distance error less than 8 m. Compared with PID control and traditional MPC control, the maximum speed error is reduced by 6.6 and 2.5 m·s-1， respectively. In the emergency braking scenario, the speed change is more stable, and the riding comfort of the vehicle fleet is improved.
|
|
|
|
|
|
| ［1］ |
廖瑞辉，周晶，徐红利.考虑路段权重的城市交通路网拥挤指数研究[J].系统科学学报,2016，24(1):84-88.
|
|
LIAO R H, ZHOU J, XU H L.Study on congestion index of urban traffic network based on link weights[J]. Chinese Journal of Systems Science, 2016，24(1): 84-88.（in Chinese）
|
| ［2］ |
GHANNADPOUR S F, ZARRABI A. Multiobjective heterogeneous vehicle routing and scheduling problem with energy minimizing[J]. Swarm and Evolutionary Computation, 2019, 44: 728-747.
|
| ［3］ |
DING Y P, CHEN H Y, GONG J W, et al. Model predictive enhanced adaptive cruise control for multiple driving situations\[C\]∥Proceedings of the IEEE Intelligent Vehicles Symposium. Piscataway，USA:IEEE,2018:1717-1722.
|
| ［4］ |
KIANFAR R, FALCONE P, FREDRIKSSON J. A control matching model predictive control approach to string stable vehicle platooning[J]. Control Engineering Practice, 2015, 45(3):163-173.
|
| ［5］ |
ZHENG Y, LI S E,LI K Q,et al．Distributed model predictive control for heterogeneous platoon under unidirectional topologies[J].IEEE Transactions on Control System Technology, 2017, 25（3）: 899-910．
|
| ［6］ |
MOSER D, SCHMIED R, WASCHL H, et al. Flexible spacing adaptive cruise control using stochastic model predictive control[J]. IEEE Transactions on Control Systems Technology, 2018,26（1）:114-127.
|
| ［7］ |
KAPOOR N, OHRI J. Sliding mode control (SMC) of robot manipulator via intelligent controllers[J].Journal of the Institution of Engineers (India): Series B, 2017, 98（1）:81-98.
|
| ［8］ |
BALADOR A，UHLEMANN E，CALAFATE C T, et al. Supporting beacon and eventdriven messages in vehicular platoons through tokenbased strategies[J]. Sensors, 2018, 18(4):1-17.
|
| ［9］ |
王伟杰,王春磊,王玖,等.高速公路最小行车安全距离及预警系统设计[J].大连交通大学学报,2010,31(5):6-10.
|
|
WANG W J, WANG C L, WANG J, et al. Highway minimum driving safe distance calculation and early warning system design[J].Journal of Dalian Jiaotong University, 2010,31(5):6-10.（in Chinese）
|
| ［10］ |
KAZEMI H，MAHJOUB H N，TAHMASBISARVESTANI A, et al. A learningbased stochastic MPC design for cooperative adaptive cruise control to handle interfering vehicles[J]. IEEE Transactions on Intelligent Vehicles, 2018, 3(3):266-275.
|
| ［11］ |
段亚军,杨有龙,白旭英.基于模糊规则的随机缺失属性值数据分类算法[J].吉林大学学报(理学版),2019,57(1):89-96.
|
|
DUAN Y J, YANG Y L, BAI X Y.Classification algorithm of random missing attribute value data based on fuzzy rule[J]. Journal of Jilin University(Science Edition),2019,57(1):89-96.（in Chinese）
|
| ［12］ |
MUNTASER S，SUBRAMANIAM B，CENTORE R,et al. Fuzzy traffic control with vehicletoeverything communication[J].Sensors, 2018, 18(2):1-16.
|
|
|
|
