重庆理工大学学报(自然科学) ›› 2023, Vol. 37 ›› Issue (4): 19-26.

• 车辆工程 • 上一篇    下一篇

纯电动汽车自适应巡航控制研究

杨铭菲,田 杰   

  1. 南京林业大学 汽车与交通工程学院,南京 21003
  • 出版日期:2023-05-06 发布日期:2023-05-06
  • 作者简介:杨铭菲,女,硕士研究生,主要从事无人驾驶相关技术研究,Email:njfuymf@163.com;通信作者 田杰,女,博士, 副教授,主要研究车辆系统动力学控制、无人驾驶等相关研究,Email:njtianjie@163.com。

Research on adaptive cruise control of pure electric vehicles

  • Online:2023-05-06 Published:2023-05-06

摘要: 选择四轮轮毂电机驱动电动汽车为研究对象,运用 Matlab/Simulink和 CarSim2020 对自适应巡航控制系统进行研究。制定了纯电动汽车自适应巡航控制系统整体架构,并对纯电 动汽车的纵向动力学进行了分析,随后选择了一种合适的安全距离模型以保证车辆行驶的安全 性,运用 Simulink搭建了所必需的雷达和轮毂电机模型。采用 CarSim2020搭建自车与前车的 车辆模型以及仿真环境。基于 PID控制算法和线性二次型调节器(linearquadraticregulator, LQR)分别搭建出定速巡航和距离保持的上层控制器,再通过车辆纵向动力学搭建下层控制器。 通过 Matlab/Simulink和 CarSim2020搭建联合仿真模型,在加减速工况下对定速巡航和距离保 持控制器进行仿真研究。仿真结果表明:所设计的控制系统能够较好地实现定速巡航和距离保 持功能,具有良好的实用性和有效性。

关键词: 纯电动汽车, 安全距离模型, 自适应巡航控制, 定速巡航, 距离保持

Abstract: In this paper, a four-wheel hub motor-driven electric vehicle is selected as the research object, and the adaptive cruise control system is studied by using Matlab/Simulink and CarSim 2020. Firstly, the overall architecture of the adaptive cruise control system of the pure electric vehicle is developed, and the longitudinal dynamics of the vehicle is analyzed. Subsequently, a suitable safety distance model is selected to ensure the safety of vehicle driving, and the necessary radar and hub motor models are built through Simulink. Next, CarSim 2020 is used to build a vehicle model of the self and front vehicles as well as the simulation environment. Then, the upper-level controllers of cruise control and distance keeping are respectively built based on PID control algorithm and Linear Quadratic Regulator (LQR), and the lower-level controllers are built through vehicle longitudinal dynamics. Finally, a joint simulation model is built by Matlab/Simulink and CarSim 2020 to simulate the cruise control and the distance-keeping controller under acceleration and deceleration conditions. The simulation results show that the control system designed in this paper can realize the function of constant speed cruise and distance keeping better, and has good practicality and effectiveness.

中图分类号: 

  • U496.72