Research On Queue Driving Control System Of Heavy-Duty Commercial Vehicle On High Speed Condition

In recent years,Chinese road transportation industry is in the stage of rapid development,so it also brings a series of problems.The road transport is inefficient,the large road load,the low traffic efficiency and the high transport cost problem urgently seeks the solution.heavy duty truck driving in formation can not only improve the expressway capacity,improve the overall fuel economy of the formation,but also improve the safety of heavy duty truck transportation.In this dissertation,the model predictive control is adopted to establish the queue controller.Taking heavy duty trucks under high-speed driving conditions as the research object,the stability and effectiveness of the commercial vehicle queue built are analyzed through the co-simulation software,and the experimental verification is carried out through the intelligent vehicle platform.Firstly,the truck system is modeled by using related theories.Based on the force analysis of the truck’s longitudinal driving process,the longitudinal dynamics model and the inverse longitudinal dynamics model,as well as the logic module of the model’s driving and braking switching,were established,and the inverse engine model in the inverse longitudinal dynamics model was optimized.The simulation software Matlab/ Simulink and Truck Sim were used to establish a co-simulation model to verify the effectiveness of the model,and the vehicle model was used as the vehicle model in the subsequent commercial vehicle queue.Then,the formation control system of commercial vehicle is designed.The upper layer is the decision layer of expected acceleration,and the lower layer is the control layer of vehicle mechanical drive braking.In the commercial vehicle queue,the vehicle spacing,the speed of the vehicle in front,the speed of the vehicle in back,the acceleration and other relevant parameters were input as the state quantity of the controller,and the required vehicle acceleration to drive the following vehicle was determined by the model predictive control algorithm.According to the related theory,the acceleration interference of the leading vehicle to the following vehicle is considered in the queue controller,and the acceleration of the leading vehicle is taken into account in the input state quantity of the controller.In the following paper,the control effect of the optimized queue controller designed is compared with that of the general controller,to verify the improvement effect of the controller on the stability and effectiveness of the queue considering the interference of the acceleration of the vehicle ahead.Finally,the proposed queue controller is verified by co-simulation and intelligent car experiment.The simulation software Truck Sim and Matlab/ Simulink were used to cosimulate the truck model and the designed controller model.In order to analyze the control effect of the optimized controller,typical driving conditions were selected to compare and verify the optimized controller and the general controller.Finally,the optimized controller was verified by co-simulation under other four complex working conditions,and its control effect under each working condition was analyzed.At the same time,the intelligent car experimental platform was built,and the designed optimal controller was used for semi-real vehicle experiments under multiple working conditions to analyze its experimental effect on the real vehicle.Through the analysis of the simulation experiment and the intelligent car platform experiment results,it is shown that the optimized queue controller has better effect than the general controller,has better following effect,and has greatly improved the stability and effectiveness of the queue.It also has a good control effect on the intelligent car platform,which proves the effectiveness of the controller on the physical platform.