Weight Changing Model Predictive Controller for Adaptive Cruise Control with Multiple Objectives

Usman Munir, Junzhi Zhang
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引用次数: 9

Abstract

In this work, model predictive control (MPC) problem with multiple objectives was solved to formulate adaptive cruise control of the passenger vehicle, hierarchical control architecture was implemented in which desired acceleration calculated by upper controller was translated to throttle and brake output by the lower controller. To propose the optimum acceleration a vehicle following model was established and constant time headway policy was used to propose safe distance. An optimization problem was formulated whose performance index mathematically included performance, safety, comfort, and economy. Quadratic programming was used to solve and implement receding horizon control. Investigating the impact of choosing different weighing parameters, a changing weights strategy was formulated which can adapt to the driving conditions by changing the weighing parameters within limits to get better results. Simulations were performed for both the constant and changing weights, Results demonstrated considerable improvement in weight changing with conditions.
多目标自适应巡航控制的权变模型预测控制器
针对多目标模型预测控制(MPC)问题,实现了乘用车自适应巡航控制的分层控制结构,将上位控制器计算的期望加速度转化为下位控制器的油门和刹车输出。为了提出最优加速度,建立了车辆跟随模型,并采用恒时距策略提出安全距离。提出了一个优化问题,其性能指标在数学上包括性能、安全性、舒适性和经济性。采用二次规划方法求解并实现后退地平线控制。研究了不同称重参数的选择对车辆行驶性能的影响,提出了一种通过在一定范围内改变称重参数来适应车辆行驶条件的变权策略,以获得更好的效果。对恒定和变化的权重进行了模拟,结果表明,随条件变化的权重有相当大的改善。
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