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混行环境下CACC系统驾乘舒适性优化控制

梁军 于扬 王文飒 陈龙

梁军, 于扬, 王文飒, 陈龙. 混行环境下CACC系统驾乘舒适性优化控制[J]. 西南交通大学学报, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514
引用本文: 梁军, 于扬, 王文飒, 陈龙. 混行环境下CACC系统驾乘舒适性优化控制[J]. 西南交通大学学报, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514
LIANG Jun, YU Yang, WANG Wensa, CHEN Long. Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow[J]. Journal of Southwest Jiaotong University, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514
Citation: LIANG Jun, YU Yang, WANG Wensa, CHEN Long. Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow[J]. Journal of Southwest Jiaotong University, 2021, 56(6): 1290-1297. doi: 10.3969/j.issn.0258-2724.20200514

混行环境下CACC系统驾乘舒适性优化控制

doi: 10.3969/j.issn.0258-2724.20200514
基金项目: 国家重点研发计划(2018YFB010500);江苏省高校自然科学研究重大项目(18KJA580002)
详细信息
    作者简介:

    梁军(1976—),男,教授,博士,博士生导师,研究方向为智能车辆与智能交通,E-mail:liangjun@ujs.edu.cn

  • 中图分类号: U461.4

Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow

  • 摘要:

    为提升协同式自适应巡航(cooperative adaptive cruise control,CACC)系统在由自动网联汽车(connected automated vehicle,CAV)和人工驾驶汽车(manual vehicle,MV)构成的混行交通流下的驾乘舒适性,提出考虑驾乘舒适性的双层控制策略(dual-layer control strategy considering ride comfort,RC-DCS). 上层控制器从宏观角度出发,采用两状态空间模型调整跟车间距及车速,并利用代价函数改善车队的整体稳定性和舒适性;下层控制器从微观角度出发,优化单车的油门和制动踏板切换逻辑,稳定实际加速度输出,降低车辆频繁加减速引起的自身俯仰. 试验结果表明:RC-DCS在跟随MV工况中跟车间距误差和加速度分别降低了72.44%和24.87%;在MV插入CACC车队工况中通过增大跟车时距0.4 s以减少加速度波动;在跟车、紧急制动、旁车切入3种典型工况中,单车加速度标准差分别降低了9.6%、10.4%、2.9%.

     

  • 图 1  CACC系统舒适度优化分层架构

    Figure 1.  Hierarchical architecture of CACC system

    图 2  CACC系统工作模式

    Figure 2.  Working mode of CACC system

    图 3  车队整体运行结果对比

    Figure 3.  Result comparison of fleet overall operation

    图 4  MV切入结果对比

    Figure 4.  Result comparison of MV cut-in

    图 5  典型工况下单车试验结果对比

    Figure 5.  Result comparison of single vehicle experiments under typical working conditions

    表  1  控制规则表

    Table  1.   Control rules

    evea
    NBNSZOPSPB
    NBNBNBNSNSZO
    NSNBNSNSZOPS
    ZONSNSZOPSPS
    PSNSZOPSPSPB
    PBZOPSPSPBPB
    下载: 导出CSV

    表  2  切换控制策略

    Table  2.   Switching control strategies

    当前
    状态
    输出方案
    减速区域
    ev < −0.1)
    保持区域
    (−0.1 ≤ ev ≤ 0.1)
    加速区域
    ev > 0.1)
    TA TC TC TC
    BA BC BC BC
    NA BC NO TC
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-08-06
  • 修回日期:  2020-12-01
  • 网络出版日期:  2021-04-15
  • 刊出日期:  2021-04-15

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