Road conditions in the design of vehicle speed control using the LPVmethod

摘要

The paper focuses on the design of a new adaptivecruise control which takes into consideration the knowledgeof the inclinations of the road along the track of the vehicle.The controlled system incorporates the brake and the tractionforces. By choosing the velocity, of the vehicle-fitting in with theinclinations of the road the number of unnecessary accelerationsand brakes can be reduced, thus so can the operations ofthe actuators of the vehicles, i.e. the powertrain and thebrake system. The longitudinal dynamics of the vehicle isformulated in a control-oriented linear model, which containsthe longitudinal control force and disturbances such as theaerodynamic force, rolling resistance and road slope. If theinclination of the road surface Is assumed to be known, It isconsidered in the calculation of the velocity tracking and thereference velocity. In the model the nonlinear properties ofthe predicted road Inclinations are considered together withthe safety requirements. The control system is designed byusing LPV/li_m, control theory. The operation of the method isdemonstrated through simulation examples in Matlab/Simulinkand CarSim environments.