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SCIENCE CHINA Information Sciences, Volume 64 , Issue 1 : 112201(2021) https://doi.org/10.1007/s11432-019-2756-3

Optimal car-following control for intelligent vehicles using online road-slope approximation method

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  • ReceivedMay 20, 2019
  • AcceptedDec 26, 2019
  • PublishedJul 15, 2020

Abstract

The design of a car-following control system is a multiobjective optimization problem that involves issues in rider safety, ride comfort, and fuel economy. This study proposes a hierarchical design of optimal car-following control where the system is intuitively split into two subsystems with different dynamic properties. Specifically, the high-level subsystem is a linear car-following system with a measurable disturbance of the preceding vehicle's acceleration, while the low-level subsystem is a nonlinear acceleration-tracking system with an unmeasurable road slope. In the design of optimal car-following control, the measurable disturbance of the preceding vehicle's acceleration is considered from a theoretical perspective, and the unmeasurable road slope is estimated by a novel engineering-oriented approximation method to reduce the influence of driveline oscillation. The performance of the proposed optimal control scheme is evaluated through simulation and real-vehicle experiments, which show that the proposed control algorithm provides a satisfactory road-slope approximation accuracy and that the car-following performance of the proposed optimal control system is better than that of a factory-installed adaptive cruise controller.


Acknowledgment

This work was supported by China Automobile Industry Innovation and Development Joint Fund (Grant Nos. U1664257, U1864206), National Natural Science Foundation of China (Grant No. 61903153), and Postdoctoral Science Foundation of China (Grant No. 2018M641779). The authors would like to thank Yongjun YAN, Pengfei SUN, Liangchun ZHAO, Yuxiang ZHANG, Xin LI, and Ting QU for their help in the real-vehicle implementation of the proposed control scheme.


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