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Modeling and simulation of adaptive cruise control system

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Document pages: 66 pages

Abstract: In this report, linear quadratic regulator is used to design adaptive cruisecontrol system. In the regulator, Q and R parameters vary with time accordingto current traffic situations. Phase-plant method is used to give constraintson Q and R parameters, and coefficient descent method is applied to solve forthe constrained optimization problem. Meanwhile, data based controller designmethod is also introduced in this paper, where the time vary vehicle dynamicparameters are no longer considered. Q-function, which consists of Markovianstate and action penalty, is introduced to indicate the cost function.According to current traffic states, Q-function is generalized and minimized bydirectly using least error method, whose stability is ensured by nonlinearregression theory. Simulation is conducted and results show the advantages ofusing time varying parameter linear quadratic regulator over other controllerdiscussed in this paper. Vehicle tests are also conducted to ensure thefeasibility and efficiency of the controller.

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