Online algorithm for controlling a cruise system under uncertainty in design parameters and environmental conditions using Monte-Carlo simulation

摘要

A simplified mathematical model for describing a dynamic response of a vehicle is developed. An online algorithm of a small vehicle for controlling an adaptive cruise system has been lunched and implemented by achieving two-time cost functions to determine a proper set of proportional and integral controllers. The proportional gain is adjusted to satisfy the time cost function in order to get the desired steady state time while the integral gain is set to be constant that meets the desired vehicle velocity. Several trials of random off-nominal parameters combinations involving vehicle mass, road angle, drag coefficient, and road rolling coefficient are tested using Monte-Carlo simulation method. The results show that the simplified mathematical model used in this study is efficient to describe the dynamic behavior of the vehicle and could be safely used to design a cruise system. The statistical results of Monte-Carlo simulations show the effectiveness of the online algorithm to steer the vehicle to the desired velocity within the required time under large dispersions of system parameters.