CN110155052A - Improved adaptive cruise lower layer control design case method - Google Patents
Improved adaptive cruise lower layer control design case method Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/0011—Proportional Integral Differential [PID] controller
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- Combined Controls Of Internal Combustion Engines (AREA)
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Abstract
The present invention relates to a kind of improved adaptive cruise lower layer control design case method, the Design of nonlinear compensation including drive control, control for brake, driving and control for brake switch logic, adaptive cruise lower layer controller.The present invention uses fuzzy rectification building-out device, using it is expected acceleration and actual acceleration departure and departure changing value as fuzzy controller input, output is the input value of pid correction device, pid control parameter is adjusted in real time by fuzzy control, inverse Longitudinal Dynamic Model nonlinear characteristic in lower layer's control is compensated, the final optimization that can be achieved to vehicle self-adaption cruise system lower layer's controller to the tracking effect of the expectation acceleration of upper controller.
Description
Technical field
The present invention relates to a kind of vehicle self-adaption cruise system, under especially a kind of Vehicle Adaptive Cruising Control Systems
Layer control design case method.
Background technique
Important component of the self-adaption cruise system as advanced driving assistance system can effectively mitigate driver and drive
Burden is sailed, vehicle safety and riding comfort are improved.Existing self-adaption cruise system mostly uses greatly in controller design
Hierarchical design, upper controller are calculated desired from vehicle acceleration by control algolithm, and lower layer's controller is by the expectation on upper layer
Acceleration is converted into throttle, brake pedal aperture by inverse Longitudinal Dynamic Model, then is input in controlled auto model, thus
Realize that the longitudinal movement to vehicle controls.Each module control in hierarchical control is with clearly defined objective, is conducive to the tune of controller parameter
Whole and whole self-adaption cruise system debugging.
In lower layer's control design case of adaptive cruise control system, there are strong nonlinearities against Longitudinal Dynamic Model for vehicle
The characteristics of.In the drive control of transmission system, there are engine kinematic nonlinearity, fluid torque-converter coupling nonlinear, from
The problems such as dynamic transmission gear, in braking system, there are the time lag characteristics of braking system, therefore, in lower layer's controller design
When, it needs to consider to compensate inverse longitudinal dynamics nonlinear characteristic.Traditional pid control algorithm adds expectation with actual
Speed difference compensates, and actual acceleration is enabled effectively to track desired acceleration.But in adaptive cruise system
In lower layer's control of system, controlled system is a nonlinear and time-varying system, and the corrector based on traditional PI D will appear biggish inclined
Difference or overshoot need to consider to carry out real-time optimization to pid parameter.Based on Fuzzy PID, tradition can be effectively overcome
The shortcomings that pid parameter can not adjust in real time optimizes the tracking effect to desired acceleration.
It is, therefore, desirable to provide using fuzzy rectification building-out device, with it is expected acceleration and actual acceleration departure and
Input of the changing value of departure as fuzzy controller exports as the input value of pid correction device, by fuzzy control to PID
Control parameter adjusts in real time, compensates to inverse Longitudinal Dynamic Model nonlinear characteristic in lower layer's control, final to realize to vehicle
The optimization of self-adaption cruise system lower layer controller to the tracking effect of the expectation acceleration of upper controller.
Summary of the invention
The present invention is to provide for a kind of improved adaptive cruise lower layer control design case method, and this method is based on fuzzy
It is expected control algolithm, the shortcomings that capable of effectively overcoming traditional pid parameter not adjust in real time, optimize the tracking effect to acceleration
Fruit.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of improved adaptive cruise lower layer control design case method, in lower layer's controller design of use, it is expected that accelerating
Spend adesIt is overdrived and control for brake switch logic, judgement needs to step on the throttle at this time or brake, and then passes through driving force meter
It calculates or brake force calculating is converted into desired vehicle throttle aperture αthrottleOr brake pressure Pbrake, then could input
In controlled vehicle, the traveling of acceleration, the deceleration of vehicle is realized, to realize longitudinal adaptive learning algorithms function of vehicle, have
Body step includes:
1) drive control
When vehicle carries out acceleration drive control, the expectation acceleration a that needs for controller to be calculateddesBe converted to section
Valve opening establishes running car kinetics equation:
In formula (1), m is complete vehicle quality, FtFor the driving force that engine provides, g is acceleration of gravity, and f is rolling resistance
Coefficient takes 0.8, CdFor coefficient of air resistance, A is front face area, and ρ is atmospheric density, and v is the travel speed of vehicle, and θ is road
The angle of gradient.
When ignoring the power train flexible deformation in longitudinal direction of car dynamics, the driving force F of controlled vehicle can be obtainedtAre as follows:
T in formula (2)eFor the output torque of engine, η is the mechanical efficiency of transmission system, and τ is torque converter drive
Than the transmission ratio is related to revolving speed, igFor the transmission ratio of speed changer, i related to gearmFor final driver ratio, rtireFor
The effective radius of wheel；
By the above expression formula, desired acceleration can be converted into desired engine torque Tdes:
The engine torque characteristic curve graph provided by the Carsim learns that engine it is expected torque TdesTurn with engine
Fast ωe, current desired throttle opening α can be obtainedthrottle, function expression f may be expressed as:
αthrottle=f (Tdes,ωe) (4)
2) control for brake
When vehicle carries out retarding braking control, the expectation acceleration a that needs for controller to be calculateddesIt is converted to pair
The brake force F answeredbrake, then again by brake pressure FbrakeIt is converted into the brake pressure P of wheeldes；
In braking process, engine not output power, kinetics equation when being controlled the braking of vehicle are set are as follows:
mades=Fbrake-KbrakePdes (5)
In formula (5), KbrakeFor control for brake coefficient, 1300 are taken；
The calculation expression of brake pressure is obtained by above formula are as follows:
3) driving and control for brake switch logic
According to driver in practical driving procedure, it will not carry out accelerating simultaneously and brake operating, foundation drive and brakes
Control switch logic；It is tested by vehicle sliding and determines switch logic curve, and two sides setting width is h=above and below curve
0.05m/s2Buffer area, avoid throttle and braking frequent switching, lower driver's driving fatigue intensity, improve driving comfort
Property；When the expectation acceleration of vehicle is above curve, drive control is carried out, when desired acceleration is square under the curve, is carried out
Control for brake, it is expected that acceleration at buffer area, keeps vehicle's current condition, both without drive control, also without braking；
4) Design of nonlinear compensation of adaptive cruise lower layer controller
Acceleration correction device is designed using based on fuzzy PID algorithm, designs a fuzzy controller, input first
It is the difference EC for it is expected departure of deviation E and current deviation amount and previous moment of acceleration and actual acceleration, exports and be
The input parameter of PID controller, and only consider that ratio and integral unit, the i.e. output of fuzzy controller are set as scale parameter kp
With integral parameter ki, the parameter subordinating degree function in fuzzy control is that minimum value and maximum value section use trapezoidal degree of membership letter
Number, rest interval use Triangleshape grade of membership function；Deviation E and deviation variation rate EC is set as 5 set from small to large；Output
Kp, ki are also set as 5 set from small to large；The output parameter of fuzzy controller is input to again in acceleration PI corrector,
Desired acceleration is compensated, realizing has the controlled system of closed loop input-output characteristic.
The beneficial effects of the present invention are:
The present invention uses fuzzy rectification building-out device, it is expected the departure and departure of acceleration and actual acceleration
Input of the changing value as fuzzy controller, export as the input value of pid correction device, PID control joined by fuzzy control
Number adjusts in real time, compensates to inverse Longitudinal Dynamic Model nonlinear characteristic in lower layer's control, final to can be achieved to vehicle certainly
Adapt to optimization of the cruise system lower layer controller to the tracking effect of the expectation acceleration of upper controller.
Detailed description of the invention
Fig. 1 is engine torque characteristic curve graph；
Fig. 2 is driving and control for brake switch logic curve graph；
Fig. 3 is lower layer's controller structure diagram；
Fig. 4 is closed loop and opened loop control comparison diagram；
Wherein: (a) operating point speed is 60km/h, (b) operating point speed 120km/h.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
A kind of improved adaptive cruise lower layer control design case method, in lower layer's controller design, it is expected that acceleration ades
It needs to be overdrived and control for brake switch logic, judgement needs to step on the throttle at this time or brake, and then passes through driving force meter
It calculates or brake force calculating is converted into desired vehicle throttle aperture αthrottleOr brake pressure Pbrake, then could input
In controlled vehicle, the traveling of acceleration, the deceleration of vehicle is realized, to realize longitudinal adaptive learning algorithms function of vehicle, have
Body includes:
1) drive control
When vehicle carries out acceleration drive control, the expectation acceleration a that needs for controller to be calculateddesBe converted to section
Valve opening establishes running car kinetics equation:
In formula (1), m is complete vehicle quality, FtFor the driving force that engine provides, g is acceleration of gravity, and f is rolling resistance
Coefficient takes 0.8, CdFor coefficient of air resistance, A is front face area, and ρ is atmospheric density, and v is the travel speed of vehicle, and θ is road
The angle of gradient.
When ignoring the power train flexible deformation in longitudinal direction of car dynamics, the driving force F of controlled vehicle can be obtainedtAre as follows:
T in formula (2)eFor the output torque of engine, η is the mechanical efficiency of transmission system, and τ is torque converter drive
Than the transmission ratio is related to revolving speed, igFor the transmission ratio of speed changer, i related to gearmFor final driver ratio, rtireFor
The effective radius of wheel.
By the above expression formula, desired acceleration can be converted into desired engine torque Tdes:
The engine torque characteristic curve graph according to provided by Carsim (abbreviation MAP chart), as shown in Figure 1, the MAP chart table
What is shown is to obtain engine output torque size according to the throttle opening and engine speed in vehicle travel process.Herein
By the way of by tabling look-up, engine expectation torque T is being learntdesWith engine speed ωe, can be obtained current desired
Throttle opening αthrottle, function expression f may be expressed as:
αthrottle=f (Tdes,ωe) (4)
2) control for brake
When vehicle carries out retarding braking control, the expectation acceleration a that needs for controller to be calculateddesIt is converted to pair
The brake force F answeredbrake, then again by brake pressure FbrakeIt is converted into the brake pressure P of wheeldes。
In braking process, engine not output power, kinetics equation when being controlled the braking of vehicle are set are as follows:
mades=Fbrake-KbrakePdes (5)
In formula (5), KbrakeFor control for brake coefficient, KbrakeTake 1300.
The calculation expression of brake pressure is obtained by above formula are as follows:
3) driving and control for brake switch logic
In practical driving procedure, driver will not usually accelerate simultaneously and brake operating, otherwise will be to vehicle
Engine system and braking system damage, it is therefore desirable to establish driving with control for brake switch logic.Herein by vehicle
Coasting test determines switch logic curve, and two sides setting width is h=0.05m/s above and below curve2Buffer area, keep away
Exempt from throttle and braking frequent switching, lower driver's driving fatigue intensity, improves driver comfort, control switch logic curve is such as
Shown in Fig. 2:
As shown in Figure 2, when the expectation acceleration of vehicle is above curve, drive control is carried out, when desired acceleration exists
When below curve, control for brake is carried out, it is expected that acceleration at buffer area, keeps vehicle's current condition, was both controlled without driving
System, also without braking.
4) Design of nonlinear compensation of adaptive cruise lower layer controller
Acceleration correction device is designed based on fuzzy PID algorithm herein, designs a fuzzy controller, input first
It is the difference EC for it is expected departure of deviation E and current deviation amount and previous moment of acceleration and actual acceleration, exports and be
The input parameter of PID controller, since the effect of the corrector is that inverse Longitudinal Dynamic Model is non-thread in compensation lower layer's controller
Property characteristic caused by error, therefore only consider that ratio and integral unit, the i.e. output of fuzzy controller are set as scale parameter
Kp and integral parameter ki.Parameter subordinating degree function in fuzzy control is that minimum value and maximum value section use trapezoidal degree of membership letter
Number, rest interval use Triangleshape grade of membership function.Deviation E and deviation variation rate EC is set as 5 set: small (S), smaller
(MS), (M), larger (MB), big (B) in.Output kp, ki are also configured as 5 set: small (S), smaller (MS), in (M), larger
(MB), big (B).
The output parameter of fuzzy controller is input to again in acceleration PI corrector, desired acceleration is compensated,
Realize that the controlled system with closed loop input-output characteristic, structure are as shown in Figure 3:
Application examples:
In order to be verified to designed lower layer's controller, in conjunction with Carsim software, select in 60km/h and 120km/h
Speed operating point tested, input variation range in -0.2m/s2~0.4m/s2, the period is the square-wave signal of 5s as the phase
It hopes acceleration input, and carries out with traditional PID control system for simulation result is as shown in Figure 4.
Analysis chart 4 (a), (b) it is found that under different operating point speeds, the closed loop lower layer based on fuzzy PID algorithm
Controller is compared to the control of traditional PI D corrector, and when desired sudden change of acceleration, overshoot is smaller, and can be better
Fitting expectation acceleration change curve.It can be seen that the promotion with speed, designed closed loop controller tracking from Fig. 4 (b)
Effect is more obvious, and the actual acceleration of lower layer's controller of one side closed loop is for it is expected the variation response of acceleration faster；Separately
On the one hand, after acceleration is stablized, actual acceleration and expectation deviation are smaller, and departure controls in the reasonable scope.
Claims (1)
1. a kind of improved adaptive cruise lower layer control design case method, it is characterised in that: in lower layer's controller design of use,
It is expected that acceleration adesIt is overdrived and control for brake switch logic, judgement needs to step on the throttle at this time or brake, and then passes through
Driving force calculates or brake force calculating is converted into desired vehicle throttle aperture αthrottleOr brake pressure Pbrake, then
It could input in controlled vehicle, the traveling of acceleration, the deceleration of vehicle be realized, to realize longitudinal adaptive learning algorithms of vehicle
Function, specific steps include:
1) drive control
When vehicle carries out acceleration drive control, the expectation acceleration a that needs for controller to be calculateddesBe converted to air throttle
Aperture establishes running car kinetics equation:
In formula (1), m is complete vehicle quality, FtFor the driving force that engine provides, g is acceleration of gravity, and f is coefficient of rolling resistance,
Take 0.8, CdFor coefficient of air resistance, A is front face area, and ρ is atmospheric density, and v is the travel speed of vehicle, and θ is road grade
Angle.
When ignoring the power train flexible deformation in longitudinal direction of car dynamics, the driving force F of controlled vehicle can be obtainedtAre as follows:
T in formula (2)eFor the output torque of engine, η is the mechanical efficiency of transmission system, and τ is torque converter drive ratio, the biography
Dynamic ratio is related to revolving speed, igFor the transmission ratio of speed changer, i related to gearmFor final driver ratio, rtireFor having for wheel
Imitate radius；
By the above expression formula, desired acceleration can be converted into desired engine torque Tdes:
The engine torque characteristic curve graph provided by the Carsim learns that engine it is expected torque TdesWith engine speed ωe,
Current desired throttle opening α can be obtainedthrottle, function expression f may be expressed as:
αthrottle=f (Tdes,ωe) (4)
2) control for brake
When vehicle carries out retarding braking control, the expectation acceleration a that needs for controller to be calculateddesIt is converted to corresponding
Brake force Fbrake, then again by brake pressure FbrakeIt is converted into the brake pressure P of wheeldes；
In braking process, engine not output power, kinetics equation when being controlled the braking of vehicle are set are as follows:
mades=Fbrake-KbrakePdes (5)
In formula (5), KbrakeFor control for brake coefficient, 1300 are taken；
The calculation expression of brake pressure is obtained by above formula are as follows:
3) driving and control for brake switch logic
According to driver in practical driving procedure, acceleration and brake operating will not be carried out simultaneously, establish driving and control for brake
Switch logic；It is tested by vehicle sliding and determines switch logic curve, and two sides setting width is h=above and below curve
0.05m/s2Buffer area, avoid throttle and braking frequent switching, lower driver's driving fatigue intensity, improve driving comfort
Property；When the expectation acceleration of vehicle is above curve, drive control is carried out, when desired acceleration is square under the curve, is carried out
Control for brake, it is expected that acceleration at buffer area, keeps vehicle's current condition, both without drive control, also without braking；
4) Design of nonlinear compensation of adaptive cruise lower layer controller
Acceleration correction device is designed using based on fuzzy PID algorithm, designs a fuzzy controller first, input is the phase
The difference EC for hoping the departure of the deviation E and current deviation amount and previous moment of acceleration and actual acceleration exports as PID control
The input parameter of device processed, and only consider that ratio and integral unit, the i.e. output of fuzzy controller are set as scale parameter kp and product
Divide parameter ki, the parameter subordinating degree function in fuzzy control is that minimum value and maximum value section use trapezoidal membership function,
Supplementary interval uses Triangleshape grade of membership function；Deviation E and deviation variation rate EC is set as 5 set from small to large；Export kp, ki
It is set as 5 set from small to large；The output parameter of fuzzy controller is input to again in acceleration PI corrector, expectation is added
Speed compensates, and realizing has the controlled system of closed loop input-output characteristic.
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| CN110617152A (en) * | 2019-10-18 | 2019-12-27 | 上海格陆博实业有限公司 | Throttle control system based on fuzzy PID control |
| CN110615003A (en) * | 2019-10-30 | 2019-12-27 | 吉林大学 | Cruise control system based on strategy gradient online learning algorithm and design method |
| CN110834538A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Unmanned vehicle and control method for smooth switching of accelerator brake of unmanned vehicle |
| CN110920606A (en) * | 2019-10-18 | 2020-03-27 | 上海格陆博实业有限公司 | Accelerator and brake logic conversion control strategy based on PID control algorithm |
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