论文标题
自适应巡航控制系统的建模和模拟
Modeling and simulation of adaptive cruise control system
论文作者
论文摘要
在本报告中，线性二次调节器用于设计自适应巡航控制系统。在调节器中，Q和R参数根据当前的流量情况而变化。相植物方法用于给出Q和R参数的约束，并将系数下降方法用于解决约束优化问题。同时，本文还介绍了基于数据的控制器设计方法，其中不再考虑变化的车辆动态参数。 Q功能由马尔可夫州和行动惩罚组成，以表明成本函数。根据当前的交通状态，使用最小误差方法将Q功能概括和最小化，而非线性回归理论可以确保其稳定性。进行了仿真，结果表明，使用时间变化的参数线性二次调节器比本文中讨论的其他控制器的优点。还进行了车辆测试以确保控制器的可行性和效率。
In this report, linear quadratic regulator is used to design adaptive cruise control system. In the regulator, Q and R parameters vary with time according to current traffic situations. Phase-plant method is used to give constraints on Q and R parameters, and coefficient descent method is applied to solve for the constrained optimization problem. Meanwhile, data based controller design method is also introduced in this paper, where the time vary vehicle dynamic parameters are no longer considered. Q-function, which consists of Markovian state and action penalty, is introduced to indicate the cost function. According to current traffic states, Q-function is generalized and minimized by directly using least error method, whose stability is ensured by nonlinear regression theory. Simulation is conducted and results show the advantages of using time varying parameter linear quadratic regulator over other controller discussed in this paper. Vehicle tests are also conducted to ensure the feasibility and efficiency of the controller.
