The invention discloses a self-adaptive cruise control method adopting a composite model predictive controller. The method comprises the steps that the working mode of a self-adaptive cruise system is determined according to vehicle motion state information and road information; based on the self-adaptive cruise system engineering mode, the expected longitudinal acceleration of the vehicle is output in combination with the vehicle motion state information; according to the expected longitudinal acceleration of the vehicle, the motor working mode is determined by combining the acceleration-speed relation in the natural deceleration process of the vehicle; and determining a vehicle longitudinal dynamic model according to the motor working mode, and calculating expected motor torque by combining with expected vehicle longitudinal acceleration to obtain a control signal. By means of the method, the expected longitudinal acceleration of the vehicle can be calculated in real time, the distance between the front vehicle and the rear vehicle is regulated, and braking energy recovery is achieved. The self-adaptive cruise control method adopting the composite model predictive controller can be widely applied to the field of automatic driving electric vehicle control.
本发明公开了一种采用复合模型预测控制器的自适应巡航控制方法,该方法包括:根据车辆运动状态信息和道路信息确定自适应巡航系统工作模式;基于自适应巡航系统工程模式,结合车辆运动状态信息,输出车辆期望纵向加速度;根据车辆期望纵向加速度,结合车辆自然减速过程中的加速度‑速度关系,确定电机工作模式;根据电机工作模式确定车辆纵向动力学模型,并结合车辆期望纵向加速度计算期望电机转矩,得到控制信号。通过使用本发明,能够实时计算车辆期望纵向加速度,调控前后两车间距,并实现制动能量回收。本发明作为一种采用复合模型预测控制器的自适应巡航控制方法,可广泛应用于自动驾驶电动汽车控制领域。
Self-adaptive cruise control method adopting composite model predictive controller
一种采用复合模型预测控制器的自适应巡航控制方法
2022-06-28
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Adaptive Nonlinear Model Predictive Cruise Controller: Trailer Tow Use Case
SAE Technical Papers | 2017
|Cruise Controller with Fuel Optimization Based on Adaptive Nonlinear Predictive Control
SAE Technical Papers | 2016
|Real-time weighted multi-objective model predictive controller for adaptive cruise control systems
Springer Verlag | 2017
|