A Novel Adaptive Cruise Control Strategy for Electric Vehicles Based on a Hierarchical Framework

Xu, Yanwu; Liang, Chao; Zhao, Di; Cheng, Chih‐Chieh

doi:10.3390/machines9110263

Cited by 5 publications

(3 citation statements)

References 47 publications

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“…When the car's acceleration and acceleration change rate are smaller, the passenger comfort will be higher [21,22]. The control objective of the active collision avoidance control system for comfort is to minimize the acceleration and acceleration change rate during driving: mina(t) minj(t).…”

Section: Active Collision Avoidance Control Target Analysismentioning

confidence: 99%

Comfort Optimization of the Active Collision Avoidance Control System of Electric Vehicles for Green Manufacturing

Liu

Zhang

et al. 2023

Processes

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The vehicle model was built based on MATLAB/Simulink and Carsim, and the multi-objective active collision avoidance control algorithm considering safety and comfort was established based on a model predictive control (MPC) algorithm. The vehicle active collision avoidance control system for comfort and safety was studied by simulation and experimentation. The results show that the active collision avoidance control system based on an MPC algorithm can follow the vehicle under different working conditions and ensure the safety and comfort in the process of following the vehicle while meeting the requirements of the active collision avoidance control system.

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Section: Active Collision Avoidance Control Target Analysismentioning

confidence: 99%

Comfort Optimization of the Active Collision Avoidance Control System of Electric Vehicles for Green Manufacturing

Liu

Zhang

et al. 2023

Processes

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“…Ma and Nie et al [13,14] established an ACC controller based on MPC, which considered various constraints, such as economy, safety, and comfortability characteristics, and was proven to improve economic efficiency through simulation. Xu et al [15] proposed a novel ACC strategy based on a hierarchical framework, established a sliding acceleration identification model to improve the robustness of the upper-layer MPC controller and built an iterative learning lower-layer controller to reduce vehicle speed fluctuations.…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Scheme for Adaptive Cruise Control System Based on Model Predictive Control

Zhang

Mei

et al. 2023

Actuators

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An adaptive cruise control (ACC) system can improve safety and comfort during driving by taking over longitudinal control of the vehicle. It requires the coordination between the upper-layer controller and the lower-layer actuators. In this paper, a hierarchical anti-disturbance cruise control architecture based on electronic stability control (ESC) system is proposed. The upper-layer controller outputs the desired longitudinal acceleration or deceleration to the lower-layer actuators. In order to improve the accuracy of model prediction and achieve the coordinated control of multiple objectives, an upper-layer model prediction cruise controller is established based on feedback control and disturbance compensation. In addition, based on the hydraulic control unit (HCU) model and the vehicle longitudinal dynamics model, a lower-layer nonlinear model predictive deceleration controller is proposed in order to solve the problems of pressure fluctuations and the low accuracy of small decelerations when ESC is used as the actuator for the ACC system. Finally, the simulation and experimental tests were carried out. The results show that the proposed control architecture can improve the stability and comfort of the cruise control process. Moreover, compared with the traditional PID deceleration controller, it effectively improves the deceleration control accuracy.

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“…And the general method is active compliance control, such as impedance control (Hogan, 1984) and hybrid position/force control (Craig and Raibert, 1979). This method is based on force feedback, which is mostly applied to assembly tasks with easy-to-model objects, such as peg-in-hole assembly (Song et al , 2016; Chen et al , 2021; Gai et al , 2021) and barrel-type cabin assembly (Xu et al , 2021). Helicopter part is large, heavy, weak rigid and irregularly shaped, so it is difficult to model force and contact state.…”

Section: Introductionmentioning

confidence: 99%

A path planning method for compliant jointing of weakly rigid helicopter fuselage

Shi,

Wu,

Deng

et al. 2023

RIA

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Purpose The purpose of this paper is to propose a strategy for the final assembly of helicopter fuselage with weak rigidity parts and mismatched jointing butt ends. Design/methodology/approach The strategy is based on path planning methods. Compared with traditional path planning methods, the configuration-space and collision detection in the method are different. The obstacles in the configuration-space are weakly rigid and allow continuous contact with the robot. The collision detection is based on interference magnitudes, and the result is divided into no collision, weak collision and strong collision. Only strong collision is unacceptable. Then a compliant jointing path planning algorithm based on RRT is designed, combined with some improvements in search efficiency. Findings A series of planning results show that the efficiency of this method is higher than original RRT under the same conditions. The effectiveness of the method is verified by a series of simulations and experiments on two sets of systems. Originality/value There are few reports on the automation technology of helicopter fuselage assembly. This paper analyzes the problem and provides a solution from the perspective of path planning. This method contains a new configuration-space and collision detection method adapted to this problem and could be intuitive for the jointing of other weakly rigid parts.

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A Novel Adaptive Cruise Control Strategy for Electric Vehicles Based on a Hierarchical Framework

Cited by 5 publications

References 47 publications

Comfort Optimization of the Active Collision Avoidance Control System of Electric Vehicles for Green Manufacturing

Comfort Optimization of the Active Collision Avoidance Control System of Electric Vehicles for Green Manufacturing

A Hierarchical Control Scheme for Adaptive Cruise Control System Based on Model Predictive Control

A path planning method for compliant jointing of weakly rigid helicopter fuselage

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