VEHICLE LONGITUDINAL RIDE COMFORT CONTROL IN STOP-AND-GO TRAFFIC

摘要

Ride comfort at low vehicle speed is often overlooked but is very important to vehicle control applications (e.g. the latest stop-and-go function in Adaptive Cruise Control). Most control strategies that address passenger comfort simply utilize the bounds of jerk and acceleration of the vehicles. In general, they have several major limitations when applied to low-speed applications: (Ⅰ) frequency-domain comfort requirements are not integrated and (Ⅱ) the vehicle models are simplified too far to capture the tire and suspension dynamics that may impact comfort significantly at low speeds. This paper develops a control scheme for ride quality under stop-and-go situations. The scheme is based on optimal control and it ensures smooth acceleration during vehicle maneuvers. A two-degree-of-freedom control strategy is used to approximate the optimal control law. Experimental results demonstrate the effectiveness of this control scheme.