Investigation on hierarchical control for driving stability and safety of intelligent HEV during car-following and lane-change process

作     者：ZHOU YaZhou WANG RuoChen DING RenKai SHI DeHua YE Qing ZHOU YaZhou;WANG RuoChen;DING RenKai;SHI DeHua;YE Qing

作者机构：School of Automotive and Traffic EngineeringJiangsu UniversityZhenjiang 212013China Automotive Engineering Research InstituteJiangsu UniversityZhenjiang 212013China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2022年第65卷第1期

页      面：53-76页

核心收录：

学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.51975253 and 51905219) the Program of the Youth Natural Science Foundation of Jiangsu Province(Grant No.BK20200909) the Postdoctoral Science Foundation of China(Grant No.2020M671381) the Natural Science Research Project of Jiangsu Higher Education Institutions(Grant No.19KJB580001) 

主　　题：hybrid electric vehicle hierarchical control model predictive control mixed logical dynamic lane-change 

摘      要：The longitudinal and lateral coordinated control for autonomous vehicles is fundamental to achieve safe and comfortable driving *** at this for hybrid electric vehicles(HEV)during the car-following(CF)and lane-change(LC)process while accelerating,a hierarchical control strategy for vehicle stability control is *** new approach is different from the conventional hierarchical *** the basis of model predictive control(MPC)theory,a two-layer MPC controller is designed at the top level of the control *** upper layer is a linear time-varying MPC(LTV-MPC),while the lower layer is a hybrid MPC(HMPC).For the LTV-MPC controller,a control-oriented linear discrete model for HEV is established,which integrates the dynamic model with three degrees of freedom(DOF)and the car-following *** lower-layer HMPC controller is designed on the basis of the analysis for HEV hybrid characteristics and the modelling for the mixed logic dynamic(MLD)model of the HEV *** for the bottom level,a control plant including the HEV powertrain model and the 7 DOF nonlinear dynamics of the vehicle body is *** addition,the system stability is proven.A deep fusion of vehicle dynamics control and energy management is *** with LC-ACC control and conventional ACC control,the simulation and the hardware-in-the-loop(HIL)test results under different driving scenarios show that the proposed hierarchical control strategy can effectively maintain lateral stability and safety under severe driving ***,the HEV powertrain output torque and the gear-shift point are coordinated and controlled by the HMPC controller.