Research On Adaptive Cruise Control Of BRT New Energy Bus Based On The In-wheel Motor Drive

With the continuous advancement of urbanization and the rapid development of the economy,the number of car ownership continues to climb.While bringing convenience to people's travel,cars also bring a series of problems,such as traffic accidents,environmental pollution,traffic congestion,and so on.How to effectively solve these problems has become one of the difficulties in the sustainable development of China's cities.In response,many cities have begun to control car ownership and develop urban public transportation.The urban bus rapid transit(BRT)is an important part of urban public transportation,so this paper studies the New Energy BRT(NE-BRT)is of great significance.This paper focuses on the adaptive cruise control technology of NE-BRT,and proposes a NE-BRT adaptive cruise control system based on in-wheel motor drive.The main research work of this paper is as follows:Firstly,according to the operation mode of NE-BRT and the characteristics of various wheel drive systems,this paper chooses permanent magnet synchronous motor as the actuator of the in-wheel motor.This paper calculates the power,torque,speed and other parameters of the NE-BRT power components,and achieves the parameter matching of the NE-BRT power system.According to the selected in-wheel motor model and requirements of control object,the corresponding mathematical model and Simulink simulation model are established to verify the rationality of the drive motor parameters in the proposed NE-BRT.Secondly,this paper designs the adaptive cruise system of NE-BRT.The adaptive cruise system framework and the control strategy using model prediction algorithm are designed.The decision model is designed for the mode switching decision,which can better realize the mode switching of the adaptive system.This paper also proposes a safety spacing strategy for the adaptive cruise process of NE-BRT,which can ensure the safety of NE-BRT during driving.Thirdly,this paper establishes the dynamic model and simulation model of NE-BRT,and completes the setting of simulation environment in TruckSim.The established TruckSim model is combined with the system model built with Matlab/Simulink to form the co-simulation model.Finally,this paper carries out related simulation experiments on the adaptive cruise system.Aiming at simulating the actual driving condition of NE-BRT,this paper carried out the simulation experiment of vehicle constant speed cruise mode,adaptive following mode and target vehicle cut-out mode and target vehicle cut-in mode on Matlab/Simulink software platform.Through experiments,this paper verifies that the designed adaptive cruise control system has good followability and safety.