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根据低速行驶工况下重型车辆的加／减速度响应特性,建立融合被控车辆及车间动力学特性的巡航系统非线性动力学模型。在此基础上采用非线性输出干扰解耦原理,将控制目标值(车间相对距离、速度)从系统的前导车加／减速度干扰中完全解耦出来,并实现非线性系统的线性化;基于此解耦线性化子系统,设计一种改进的走-停自适应巡航控制系统。该系统不但能够保证控制目标值取得良好的动态响应特性,而且能够实现对前导车加／减速干扰的全局解耦,可提高系统的鲁棒性,仿真计算验证了控制效果。
According to the acceleration / deceleration response characteristics of heavy vehicles under low-speed driving conditions, a nonlinear dynamic model of cruise control system integrating the dynamics of the controlled vehicles and the workshop is established. On this basis, the nonlinear output disturbance decoupling principle is adopted to completely decouple the control target value (shop relative distance and speed) from the acceleration / deceleration interference of the leading vehicle and achieve the linearization of the nonlinear system. Based on this, This decoupling linearization subsystem, design an improved walk-stop adaptive cruise control system. The system can not only ensure the good dynamic response of control target value, but also realize the global decoupling of acceleration / deceleration interference of the leading vehicle and improve the system robustness. Simulation results show the effectiveness of the control system.