Vehicle adaptive cruise control strategy based on improved safe distance model for off-roads with changeable pavement and slope

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-07-24 DOI:10.1177/09544070241264881

Hui Liu, Congshuai Guo, Lijin Han, Shida Nie

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引用次数: 0

Abstract

Compared with the structured environment, off-road environment has complex and ever-changing road conditions. This paper is focused on the vehicle adaptive cruise task for vehicles driving on complex off-road terrain. Traditional ACC strategies do not take the complex road conditions into consideration, thus easily make the relative distance between vehicles unreasonable. To solve this problem, an off-road adaptive cruise control (OACC) strategy is proposed for off-roads with changeable pavement and slope. Firstly, the influence of road conditions and vehicle relative motion states on safe distance between vehicles have analyzed with the aim of developing a more reasonable space strategy for off-road conditions. Then, based on the analysis results, an improved safe distance model (ISDM) is proposed which take the influence factors into account comprehensively. The concept of road impact factor is proposed to prevent model degradation and effectively balance the influence of single road conditions and comprehensive factors on safe distance. Besides, target to improve the adaptability of ACC, a novel state space model has developed which can handle not only the change of vehicle motion states but also road conditions. In addition, the MPC-based OACC for off-road environment is proposed, which can enable the vehicle to better adapt to relative motion states and road conditions based on the novel state space model. Finally, the performance of OACC is verified by co-simulation in MATLAB/Simulink and Carsim, and a hardware-in-the-loop simulation system. Furthermore, the analysis of ISDM has conducted to illustrate the differences and similarities compared with the traditional safe distance models and to verify the effectiveness of ISDM. Simulation results show that the OACC and ISDM proposed in this paper have great performance in different off-road working conditions.

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基于改进的安全距离模型的车辆自适应巡航控制策略，适用于路面和坡度多变的非公路路况

与结构化环境相比，越野环境的路况复杂多变。本文主要研究在复杂越野地形上行驶的车辆的自适应巡航任务。传统的自适应巡航策略没有考虑复杂的路况，因此容易使车辆之间的相对距离不合理。为了解决这一问题，本文提出了一种针对路面和坡度多变的越野路面的越野自适应巡航控制（OACC）策略。首先，分析了路况和车辆相对运动状态对车辆间安全距离的影响，旨在为越野路况制定更合理的空间策略。然后，根据分析结果，提出了一种综合考虑影响因素的改进安全距离模型（ISDM）。提出了道路影响因子的概念，以防止模型退化，并有效平衡单一路况和综合因素对安全距离的影响。此外，为了提高 ACC 的适应性，还开发了一种新型状态空间模型，该模型不仅能处理车辆运动状态的变化，还能处理道路条件的变化。此外，还针对越野环境提出了基于 MPC 的 OACC，该模型基于新型状态空间模型，能使车辆更好地适应相对运动状态和路况。最后，通过 MATLAB/Simulink 和 Carsim 的协同仿真以及硬件在环仿真系统验证了 OACC 的性能。此外，还对 ISDM 进行了分析，以说明其与传统安全距离模型的异同，并验证 ISDM 的有效性。仿真结果表明，本文提出的 OACC 和 ISDM 在不同的越野工况下都有很好的表现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.