Coordinated Adaptive Cruise Control System With Lane-Change Assistance

被引：94

作者：

Dang, Ruina ^{[1
,2
]}

Wang, Jianqiang ^{[1
]}

Li, Shengbo Eben ^{[1
]}

Li, Keqiang ^{[1
]}

机构：

[1] Tsinghua Univ, State Key Lab Automot Safety & Energy, Beijing 100084, Peoples R China

[2] China North Vehicle Res Inst, Beijing 100072, Peoples R China

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2015年 / 16卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Adaptive cruise control (ACC); lane-change assistance; minimum safety space; model predictive control (MPC); MODEL-PREDICTIVE CONTROL; ROBUSTNESS; STABILITY; CAR; ACC;

D O I：

10.1109/TITS.2015.2389527

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

To address the problem caused by a conventional adaptive cruise control (ACC) system, which hinders drivers from changing lanes, in this study we propose a novel coordinated ACC system with a lane-change assistance function, which enables dual-target tracking, safe lane change, and longitudinal ride comfort. We first analyze lane-change risk by calculating minimum safety spacing between the host vehicle and surrounding vehicles and then develop a coordinated control algorithm using model predictive control theory. Tracking performance is designed on the basis of tracking errors of the host car and two leading vehicles, safety performance is realized by considering the safe distance between the host car and surrounding vehicles, and ride comfort performance is realized by limiting the vehicle's longitudinal acceleration. Driver-in-the-loop tests performed on a driving simulator confirm that the proposed ACC system can overcome the disadvantages of conventional ACC and achieves multiobjective coordination in the lane-change process.

引用

页码：2373 / 2383

页数：11

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