Modeling And Experimental Research On Longitudinal Control System Of Intelligent Vehicle Queue

In this paper, we study the longitudinal control system,and complete the vehicle following control experiments on basis of vehicle longitudinal control theory, aiming at improving traffic safety and traffic capacity. The ultimate purpose of this study is to provide theoretical and technological support for realizing the experience of vehicle platoon. The main research works are presented as follows:The research and evaluation of the vehicle platoon longitudinal control system is based on simulation or experimental results. It is necessary to establish a more accurate model of the vehicle longitudinal control system. The nonlinear influence of vehicle dynamics model is given full consideration to the engine, torque converter, automatic transmission, braking system and dynamics equations of whole vehicle. It simulates the vehicle’s actual driving which can lay a foundation for real-time simulation of longitudinal control.Secondly, we establish a hierarchical framework for the vehicle platoon longitudinal control system, which contains a higher-lever control system and a lower control system. The upper control system is proposed to ensure the string stability of platoon vehicle. Throttle fuzzy controller and brake fuzzy controller are designed as the lower controller. A switching logic is proposed to realize throttle and brake switching smoothly. We compare different control strategies for the stability of the vehicle platoon which studied by scholars, and use the Matlab/Simulink to design appropriate control algorithms that carried out vehicle following offline simulation.At last, the throttle/brake coordinated switching control platform based on dSPACE is established after achieving better results. dSPACE can realize the real-time C code auto generating from the Matlab/Simulink model to MicroAutobox II, which can control the throttle/brake coordinated switching control platform. Then the vehicle longitudinal control real-time simulation platform is found to realize the longitudinal control of vehicle. We set a variety of typical traffic conditions such as acceleration, deceleration, and uniform velocity to finish some simple experiments. Experimental results show that the longitudinal controller system can realize the control for vehicle, and has a better effect.