江苏大学学报（自然科学版）2025，Vol.46Issue(3)：257-265,9.DOI:10.3969/j.issn.1671-7775.2025.03.002
基于分层控制的电动汽车自适应巡航控制
Adaptive cruise control for electric vehicles based on hierarchical control
摘要
Abstract
To solve the problems of poor stability and driving safety of the ego-vehicle caused by the variability of the preceding vehicle's driving conditions,taking the hub-motor-driven electric vehicles as research object,the constant speed/follow-up cruise switching strategy was proposed with considering the inter-vehicle distance and relative speed simultaneously.The optimized safe time-headway model was designed,and the longitudinal tracking control strategy for the automotive adaptive cruise control(ACC)system was developed based on hierarchical control.The upper-level controller based on model predictive control(MPC)was established to solve the desired acceleration of vehicle.Utilizing the inverse longitudinal dynamics model,the lower-level controller was constructed to solve the output torque.The torque distribution strategy for the front and rear axles was designed,and by the electric motors,the wheel drive and braking torque were precisely controlled to achieve longitudinal tracking control for ACC.The co-simulation model was established by Matlab-Simulink and Carsim software to conduct simulation tests under three driving conditions of variable speed,variable acceleration and variable deceleration.The simulation results demonstrate that the proposed adaptive cruise control system based on hierarchical control can stably follow the preceding vehicle's movement under different driving conditions with maintaining safe inter-vehicle distance,which exhibits excellent following stability and safety.关键词
电动汽车/自适应巡航/分层控制/安全车间距模型/模型预测控制Key words
electric vehicle/adaptive cruise/hierarchical control/safety car spacing model/model predictive control分类
交通运输引用本文复制引用
李胜琴,任希望,冯秋实..基于分层控制的电动汽车自适应巡航控制[J].江苏大学学报（自然科学版）,2025,46(3):257-265,9.基金项目
黑龙江省重点研发计划项目(JD22A014) （JD22A014）
