基于MPC及改进ADRC的车辆自适应巡航控制研究*

doi:10.16731/j.cnki.1671-3133.2024.08.012

现代制造工程 ›› 2024, Vol. 527 ›› Issue (8): 95-101.doi: 10.16731/j.cnki.1671-3133.2024.08.012

基于MPC及改进ADRC的车辆自适应巡航控制研究^*

和丽阳, 冯剑波, 王衍学, 陈洋

北京建筑大学机电与车辆工程学院,北京 100044

收稿日期:2023-11-14 出版日期:2024-08-18 发布日期:2024-08-30
通讯作者: 王衍学,教授,博士生导师,主要研究方向为装备故障诊断及智能维护等。E-mail:wangyanxue@bucea.edu.cn
作者简介:和丽阳,硕士研究生,主要研究方向为无人驾驶车辆自适应巡航控制、无人驾驶车辆轨迹预测。E-mail:heliyang7@163.com
基金资助:
^*国家自然科学基金项目(51875032);国家重点研发计划项目(2021YFF0306303);青年北京学者人才项目(21147523017);北京建筑大学青年教师科研能力提升计划资助项目(X21050);北京建筑大学博士研究生科研能力提升项目(31081022002)

Research on vehicle adaptive cruise control based on MPC and improved ADRC

HE Liyang, FENG Jianbo, WANG Yanxue, CHEN Yang

School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China

Received:2023-11-14 Online:2024-08-18 Published:2024-08-30

摘要/Abstract

摘要： 针对车辆纵向运动时内部和外部扰动导致的预期功能稳定性问题,基于模型预测控制(Model Predictive Control,MPC)及改进自抗扰控制(Active Disturbance Rejection Control,ADRC),设计了一种车辆自适应巡航控制(Adaptive Cruise Control,ACC)策略。首先,建立车辆运动学模型以及考虑前车速度的安全车间距离模型;然后,设计模型预测控制器和改进自抗扰控制器,利用MPC算法实现对前车的跟踪,并将状态误差作为改进自抗扰控制器的输入,实现车辆在扰动环境下的稳定巡航控制;最后,进行仿真对比实验。结果表明,基于MPC及改进ADRC的车辆自适应巡航控制策略能够有效抑制由于距离误差引起的系统内部扰动和外部扰动,提高车辆在自适应巡航过程中的跟踪性能以及系统的稳定性。

关键词: 模型预测控制, 自适应巡航, 自抗扰控制, 反馈补偿

Abstract: Aiming at the expected functional stability caused by internal and external disturbances during longitudinal movement of vehicles,an adaptive cruise control method is designed based on Model Predictive Control (MPC) and improved Active Disturbance Rejection Control (ADRC) strategies. Firstly,the vehicle kinematics model and the safe vehicle spacing model considering the speed of the vehicle ahead were established.Secondly,a model predictive controller and an improved active disturbance rejection controller are designed,and the MPC control algorithm is used to track the vehicle in front,and the tracked vehicle state is taken as the input of the improved active disturbance rejection controller to realize the stable cruise control of the vehicle in the disturbed environment. Finally,the simulation and comparison experiment are carried out. The results show that the adaptive cruise control strategy based on MPC and improved ADRC can effectively suppress the internal and external disturbances caused by distance error,and improve the tracking performance and system stability of the vehicle during the adaptive cruise process.

Key words: Model Predictive Control (MPC), adaptive cruise, Active Disturbance Rejection Control (ADRC), feedback compensation

中图分类号:

TP391
U461

和丽阳, 冯剑波, 王衍学, 陈洋. 基于MPC及改进ADRC的车辆自适应巡航控制研究^*[J]. 现代制造工程, 2024, 527(8): 95-101.

HE Liyang, FENG Jianbo, WANG Yanxue, CHEN Yang. Research on vehicle adaptive cruise control based on MPC and improved ADRC[J]. Modern Manufacturing Engineering, 2024, 527(8): 95-101.

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基于MPC及改进ADRC的车辆自适应巡航控制研究^*

Research on vehicle adaptive cruise control based on MPC and improved ADRC

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