Research On Adaptive Cruise Control Of Distributed Drive Electric Vehicle Based On Vision And Radar

Electrification and intelligence are the development trend of future automobiles.As the main form of automobile development,distributed drive electric vehicles are gradually equipped with assisted driving and intelligent driving functions.Adaptive Cruise Control(ACC)is one of the important functions of assisted driving.In the past,the system mainly used millimeter wave radar to sense the surrounding environment.To study the target-level ACC sensing system of millimeter-wave radar and vision sensors,and apply it to adaptive cruise control of distributed electric vehicles,aiming to provide a reference solution for the research of distributed electric vehicles.The paper relies on the National Natural Science Foundation of China(51675257)to study the adaptive cruise control of distributed-drive electric vehicles.The paper conducts in-depth research on the following three parts:Firstly,the construction of the vehicle perception system and information processing.Build a vehicle perception system framework,choose the perception system hardware,compile CAN communication message analysis program,analyze the characteristics of millimeter wave radar and visual sensor,process the signals of the two sensors separately,extract the main target vehicle,and formulate the target level fusion of the perception system Program.Secondly,the adaptive cruise control strategy is designed based on MATLAB / Simulink.Using hierarchical control,the upper controller calculates the expected acceleration in the cruise and follow-up modes based on the forward main target motion status information obtained by the perception part.The cruise mode uses the PID control algorithm and the follow-up mode uses the linear optimal two.Sub-type control LQR algorithm.According to the designed logic for switching between cruising and following modes,the expected acceleration in the corresponding mode is transferred to the lower controller.For distributed-driven electric vehicle actuators,a lower-level controller is designed to calculate the four-wheel drive torque and braking pressure,and send the corresponding control amount to the actuator according to the acceleration and deceleration switching logic.Thirdly,the distributed driving electric vehicle simulation model is established based on Car Sim.Define the input and output interfaces of the Car Sim model in the Car Sim environment,model the vehicle parameters,build distributed drive electric vehicle transmission,braking,suspension,tires and radar models,and set cruise and follow-up conditions And comprehensive working conditions.Finally,the vehicle perception system and ACC control strategy are verified separately.Experimental verification of vehicle perception system,write perception system processing program under MATLAB / Simulink environment,collect actual drive test sensor data,conduct offline simulation,and verify the rationality and accuracy of the fusion scheme.ACC control strategy joint simulation verification,through Car Sim and MATLAB / Simulink joint simulation,to verify the cruise control and follow-up control effect of the adaptive cruise model under various operating conditions,and the rationality of the switching logic of the two control modes.The research results show that the target-level fusion scheme of millimeter wave radar and visual sensor proposed in the paper can effectively improve the single sensor missed detection and false detection,and the adaptive cruise control of distributed electric vehicles in cruise,follow-up and integrated working conditions can drive stably and reasonably.