A Vehicle Speed Adaptive Control Method Considering Acceleration Demand

doi:10.7652/xjtuxb201901008

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A Vehicle Speed Adaptive Control Method Considering Acceleration Demand

更新时间：2025-07-09

- A Vehicle Speed Adaptive Control Method Considering Acceleration Demand
- Vol. 53, Issue 1, Pages: 62-69(2019)
- 作者机构：
  
  1. 同济大学汽车学院,上海,201804
  2. 同济大学中德学院,上海,201804
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201901008
  CLC： U46
- Online First：10 January 2019，
  
  Published：2019
- 稿件说明：
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A Vehicle Speed Adaptive Control Method Considering Acceleration Demand[J]. 2019, 53(1): 62-69.
DOI：

A Vehicle Speed Adaptive Control Method Considering Acceleration Demand[J]. 2019, 53(1): 62-69. DOI： 10.7652/xjtuxb201901008.

摘要

针对智能车辆纵向控制要同时满足期望车速和期望加速度的需求

同时考虑到道路阻力变化对纵向控制的影响

提出一种考虑加速度需求的车速自适应控制方法。利用车辆纵向动力学模型

通过自适应遗忘因子递归最小二乘法对道路阻力进行估计。在此基础上基于条件积分方法设计耦合的车速和加速度控制律

通过积分自动调节和切换策略

保证了车速控制和加速度控制的平滑切换

并且通过建立李雅普诺夫函数

证明了车速跟踪误差的全局渐进稳定。最后

通过仿真试验和实车试验验证了控制方法的有效性。

Abstract

The longitudinal control of an intelligent vehicle involves achieving expected vehicle speed and acceleration at the same time

and the influence of change of road resistance ought to be taken into account. To satisfy all the requirements

an adaptive vehicle speed control method considering the acceleration demand is proposed. With a longitudinal dynamic model of the vehicle

the road resistance is estimated via recursive least square method with forgetting-factor

then the control law of coupled vehicle speed and acceleration can be designed by the conditional integration algorithm

which automatically adjusts and switches control strategies with integration algorithm to ensure a smooth switch in vehicle speed control or acceleration control. Establishing the Lyapunov function

the global asymptotic stability of vehicle speed tracking error is proved. Finally

the effectiveness of the control algorithm is verified by simulation and real vehicle tests.

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references

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RESCHKA A, BÖHMER J R, SAUST F, et al. Safe, dynamic and comfortable longitudinal control for an autonomous vehicle [C]∥Proceedings of Intelligent Vehicles Symposium. Piscataway. New Jersey, USA: IEEE, 2012: 346-351.

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