基于D2P MotoHawk的汽车自动巡航系统控制策略的研究

发布时间：2018-01-05 21:16

本文关键词：基于D2P MotoHawk的汽车自动巡航系统控制策略的研究　出处：《沈阳理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：汽车自动巡航系统属于车辆主动安全技术,它是汽车自动化、智能化研究应用的基础和重要分支。汽车自动巡航控制技术是汽车定速巡航的扩展和延伸,它以定速巡航为基础,增加了跟车巡航控制以及基于安全车距的预警功能。本文基于D2P MotoHawk快速原型开发平台对自动巡航控制策略进行研究,可极大的缩短控制系统开发流程,加速自动巡航控制策略的研究。本文在对传统定速巡航控制器的策略进行分析的基础上,提出了一种新的控制方法。即巡航定速模式依然采用控制工程上广泛应用的PID控制策略,而跟车模式则采用总结驾驶员丰富驾驶经验为控制规则的模糊控制策略。在MATLAB/Simulink中建立汽车纵向运动模型并完成该控制策略的软件仿真试验,验证了算法的可行性。在对自动巡航控制系统控制策进行研究的基础上,使用D2P MotoHawk(From Development to Production,简称“D2P”)软硬件平台进行巡航控制策略的开发、移植和实现。在此基础上,利用节气门总成、D2P硬件(ECM-0565-128)并对部分传感器采用软硬件模拟等方式,设计搭建了自动巡航系统半实物仿真平台,在此平台上进行半实物仿真试验,验证了算法的可行性与有效性。
[Abstract]:Auto cruise system belongs to vehicle active safety technology, it is the basis and important branch of automobile automation and intelligent research and application. Auto automatic cruise control technology is the expansion and extension of vehicle fixed speed cruise. It is based on a constant speed cruise. This paper studies the automatic cruise control strategy based on D2P MotoHawk rapid prototyping development platform. Can greatly shorten the control system development process, accelerate the study of automatic cruise control strategy. This paper on the basis of the traditional constant speed cruise controller strategy analysis. In this paper, a new control method is proposed, that is, the PID control strategy widely used in the control engineering is still used in the cruise speed control mode. The following mode adopts the fuzzy control strategy which summarizes the driver's rich driving experience as the control rule. Establish the vehicle longitudinal motion model in MATLAB/Simulink and complete the software of the control strategy. Simulation test. The feasibility of the algorithm is verified. On the basis of the research on the control strategy of the automatic cruise control system. Use D2P MotoHawk(From Development to Production. The software and hardware platform of "D2P" is used to develop, transplant and implement cruise control strategy. On this basis, throttle assembly is used. D2P hardware ECM-0565-128) and some sensors are simulated by software and hardware, the hardware-in-the-loop simulation platform of automatic cruising system is designed and built. The hardware-in-the-loop simulation on this platform verifies the feasibility and effectiveness of the algorithm.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.6

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