黄茂 付伯轩

摘 要：自适应巡航（Adaptive Cruise Control，简称“ACC”）系统是一种可以有效减轻驾驶员疲劳，提高行车安全性，改善道路通行效率，提高车辆燃油经济性的高级驾驶员辅助系统。在重型车辆领域，该方面研究较少，随着国内陆运交通及物流行业的飞速发展，ACC系统拥有广阔的应用前景。文章以陕汽SX1318高原运输车为目标车型，设计了基于模型预测控制（Model Predictive Control，简称“MPC”）的ACC系统控制算法，依据目标车型的性能参数，以提高驾乘舒适性为主要目标，制定了相应的控制策略。以Simulink和车辆动力学仿真软件TruckSim为平台，建立了目标车型整车纵向动力学联合仿真模型，用来研究在不同巡航工况下对前方目标车辆的跟随能力及本车的行驶舒适性。仿真和实车试验测试结果表明，文章所设计的ACC系统算法，在保持预期的安全距离情况下，能有效满足性能指标要求。

关键词：自适应巡航；模型预测控制；联合仿真

中图分类号：U467 文献标识码：B 文章编号：1671-7988（2018）17-64-06

Abstract： Adaptive Cruise Control（ACC）system is an advanced driver assistant system which can effectively reduce driver fatigue， improve driving safety， improve road traffic efficiency and improve vehicle fuel economy.In the field of heavy vehicles， there is less research in this area. However， with the rapid development of land transportation and logistics industry in China， ACC system has a broad application prospect.In this paper， a model predictive control （MPC） based ACC control algorithm is designed for the SX1318 plateau transport vehicle of Shaanqi brand. According to the performance parameters of the target vehicle， the main goal is to improve the ride comfort. The corresponding control strategy is worked out. On the platform of Simulink and TruckSim， the longitudinal dynamic simulation model of the target vehicle is established， which is used to study the following ability of the vehicle in front of the vehicle and the driving comfort of the vehicle under different cruising conditions.The simulation and test results show that the ACC system algorithm designed in this paper can meet the performance requirements effectively under the condition of keeping the expected safe distance.

Keywords： Adaptive Cruise Control； model predictive control； joint simulation

CLC NO.： U467 Document Code： B Article ID： 1671-7988（2018）17-64-06

前言

自適应巡航（ACC）控制系统是一种在定速巡航控制技术的基础上发展而来的高级辅助驾驶系统，可以有效缓解驾驶员长途驾驶的疲劳，减少因驾驶员疲劳而导致的交通事故。在车辆行驶过程中，安装在车辆前部的车距传感器（雷达）持续扫描车辆前方道路，计算本车与前车的相对距离和速度，控制单元根据雷达信息，通过控制发动机、制动系统协调动作，使车辆自动加减速并与前方车辆始终保持相对稳定的安全距离。

ACC系统近几年在中高级乘用车型上搭载率逐步提高，在重型车辆上的应用仍然较少。……