Adaptive Cruise Control of Multi-Wheel-Driven Electric Vehicle
|School||Shenyang University of Technology|
|Course||Power Electronics and Power Drives|
|Keywords||Four-wheel drive electric vehicle ACC spacing strategy fuzzy control self-turning control|
The innovative structure of four-wheel independent drive electric vehicle puts forwardnew requirements for the automotive safety assistant driving system-adaptive cruisecontrol system. This article is on the support of Shenyang science project——Keytechnology research for electric vehicle doubly-fed dual drive differential and controlstability control.Traditional ACC spacing strategy which uses fixed interval spacing strategy or onlyconsider two car relative speed variable interval spacing strategy is difficult to meet thecontrol requirements in complicated condition. Based on the traditional space strategy,this paper puts forward a kind of variable interval spacing strategy which considers theacceleration change and road adhesion coefficient change, improving the spacing strategieson complicated condition adaptability.Using classical the lower level control structure of ACC that the upper control todistance to calculate the safety distance for control goal for the calculated expectedacceleration as the control input and the lower control regarded four-wheel independentdrive electric vehicle model as controlled object. Upper controller calculated expectacceleration which effects driving safety and comfort. Fuzzy strategy is used whichsimulates driving habits and comprehensive consideration of the safety, comfort andefficiency of car-following design ACC upper controller. According to time-varying andstrong nonlinear characteristics of four-wheel independent drive electric vehicle model, theleast squares identification of self-turning control was used to design the lower controller.Using MATLAB simulation software simulated the proposed interval strategy in fivekinds of typical working conditions. Upper control based on spring model and fuzzystrategy were simulated and contrasted. Lower control which is based on least squaresidentification of self-turning was simulated.The simulation results show that spacing strategy can adapt to the complex condition;The upper control based on fuzzy control can more effectively ensure the default of safe driving and comfort requirements; Designed the upper controller based on the self-turningcontrol can overcome the nonlinear of vehicle model, keeping on tracking givenacceleration well.