{"id":2048,"date":"2019-01-08T07:33:12","date_gmt":"2019-01-08T07:33:12","guid":{"rendered":""},"modified":"2019-01-08T15:33:43","modified_gmt":"2019-01-08T07:33:43","slug":"%e5%9f%ba%e4%ba%8e%e5%8a%a8%e6%80%81%e7%9f%a9%e9%98%b5%e6%96%b9%e6%b3%95%e6%94%b9%e8%bf%9b%e4%ba%86%e4%bc%a0%e7%bb%9fcacc%e6%a8%a1%e5%9e%8b%e9%a2%84%e6%b5%8b%e6%8e%a7%e5%88%b6%e7%ae%97","status":"publish","type":"post","link":"http:\/\/www.szryc.com\/?p=2048","title":{"rendered":"\u57fa\u4e8e\u52a8\u6001\u77e9\u9635\u65b9\u6cd5\u6539\u8fdb\u4e86\u4f20\u7edfCACC\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b97"},"content":{"rendered":"

\n\t\u6458\u8981\uff1a\u534f\u540c\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236(CACC)\u7cfb\u7edf\u4e2d\u8f66\u8f86\u7eb5\u5411\u8fd0\u52a8\u7684\u4e0a\u4e0b\u4f4d\u5206\u5c42\u63a7\u5236\u5668\u7ed3\u6784\uff0c\u4e0a\u4f4d\u63a7\u5236\u5668\u91c7\u7528\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b97\u6cd5\uff0c\u5229\u7528\u671f\u671b\u8ddd\u79bb\u4ee5\u53ca\u8f66\u8f86\u4e0e\u73af\u5883\u7684\u5b9e\u65f6\u4fe1\u606f\u51b3\u7b56\u51fa\u88ab\u63a7\u8f66\u8f86\u8fd0\u52a8\u7684\u671f\u671b\u52a0\u901f\u5ea6\u3002\u4e0b\u4f4d\u63a7\u5236\u5668\u6839\u636e\u671f\u671b\u52a0\u901f\u5ea6\uff0c\u6c42\u89e3\u53d1\u52a8\u673a\u8282\u6c14\u95e8\u5f00\u5ea6\u6216\u5236\u52a8\u538b\u529b\u3002\u8f66\u8f86\u7684\u6267\u884c\u5668\u65f6\u5ef6\u4f1a\u5bf9\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u4ea7\u751f\u5f88\u5927\u7684\u5f71\u54cd\u3002\u6839\u636e\u52a8\u6001\u77e9\u9635\u63a7\u5236\u7b97\u6cd5\u5bf9\u7eaf\u6ede\u540e\u5bf9\u8c61\u7684\u8865\u507f\u4f5c\u7528\uff0c\u672c\u6587\u63d0\u51fa\u4e00\u79cd\u6539\u8fdb\u7684\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b97\u6cd5\uff0c\u5e76\u4e0ePI<\/u>D \u63a7\u5236\u7b97\u6cd5\uff08\u4e0b\u4f4d\u63a7\u5236\u5668\uff09\u76f8\u7ed3\u5408\u5f62\u6210\u81ea\u4e3b\u8f66\u8f86\u7eb5\u5411\u8fd0\u52a8\u7684\u4e0a\u4e0b\u4f4d\u5206\u5c42\u63a7\u5236\u5668\uff0c\u4ee5\u8865\u507f\u8f66\u8f86\u7684\u6267\u884c\u5668\u65f6\u5ef6\u5e26\u6765\u7684\u5f71\u54cd\u3002\u901a\u8fc7 SIMULINK\/CARS<\/u>IM \u8054\u5408\u4eff\u771f\u5e73\u53f0\u5bf9\u6240\u8bbe\u8ba1\u7684\u7b97\u6cd5\u8fdb\u884c\u4e86\u4eff\u771f\u7814\u7a76\uff0c\u4eff\u771f\u7ed3\u679c\u8868\u660e\u6240\u8bbe\u8ba1\u7b97\u6cd5\u51cf\u5c0f\u4e86 CACC \u7cfb\u7edf\u8f66\u8f86\u5728\u8ddf\u968f\u8fc7\u7a0b\u4e2d\u7684\u901f\u5ea6\u8ddf\u8e2a\u8bef\u5dee\u4ee5\u53ca\u95f4\u8ddd\u8bef\u5dee\uff0c\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u6cd5\u3002<\/p>\n

\n\t1.\u5f15\u8a00<\/p>\n

\n\t <\/div>\n

\n\t\u4e3a\u4e86\u89e3\u51b3\u56e0\u6c7d\u8f66\u4fdd\u6709\u91cf\u589e\u52a0\u800c\u5e26\u6765\u7684\u793e\u4f1a\u95ee\u9898\uff0c\u5927\u91cf\u7684\u9a7e\u9a76\u5458\u8f85\u52a9\u63a7\u5236\u7cfb\u7edf\u88ab\u6df1\u5165\u7814\u7a76\u5e76\u53d6\u5f97\u4e86\u4e00\u5b9a\u7684\u8fd0\u7528\u6548\u679c[1-2]\u3002\u6bd4\u5982\u8f66\u9053\u504f\u79bb\u9884\u8b66\u7cfb\u7edf(lanedeparture warningsyste<\/u>m\uff0cLDW)\u3001\u8f66\u9053\u4fdd\u6301\u8f85\u52a9\u7cfb\u7edf(land keeping assistance system\uff0cLKA)\u3001\u884c\u4eba\u68c0\u6d4b\u548c\u56de\u907f\u7cfb\u7edf\uff0c\u4ea4\u901a\u8def\u53e3\u907f\u649e\u7cfb\u7edf\u548c\u505c\u8f66\u8f85\u52a9\u7cfb\u7edf\u7b49\u3002\u534f\u540c\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\uff08CACC\uff09\u7cfb\u7edf\u4ee5 ACC\u7cfb\u7edf\u4e3a\u57fa\u7840\uff0c\u5f15\u5165\u65e0\u7ebf\u901a\u4fe1<\/u>\u6280\u672f\u8fdb\u884c\u8f66\u95f4\u4fe1\u606f\u4ea4\u4e92\u5e76\u5c06\u901a\u4fe1\u4fe1\u606f\u7528\u4e8e\u8f66\u8f86\u63a7\u5236\uff0c\u7531\u6b64\u83b7\u5f97\u6bd4 ACC \u7cfb\u7edf\u66f4\u597d\u7684\u63a7\u5236\u6548\u679c\uff0c\u5927\u5927\u63d0\u9ad8\u4e86\u81ea\u4e3b\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u4e0e\u8212\u9002\u6027[3]\u3002CACC\u7814\u7a76\u4e3b\u8981\u6d89\u53ca\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\u3001\u8f66\u95f4\u901a\u4fe1\u6280\u672f\u53ca\u63a7\u5236\u7b97\u6cd5\u4e09\u65b9\u9762\u3002<\/p>\n

\n\t2000\u5e74\uff0cStankovi\u7b49\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u5206\u5e03\u5f0f\u7684\u91cd\u53e0\u63a7\u5236\u7b97\u6cd5\uff0c\u5e76\u5bf9\u8f66\u961f\u7684\u7a33\u5b9a\u6027\u6761\u4ef6\u8fdb\u884c\u76f8\u5e94\u7684\u5206\u6790[4]\u30022008\u5e74\uff0c\u5361\u5185\u57fa\u6885\u9686\u5927\u5b66\u7814\u7a76\u56e2\u961f\u6784\u5efa\u4e86\u6cb9\u95e8\u548c\u5236\u52a8\u7684\u975e\u7ebf\u6027 PID\u63a7\u5236\u7b56\u7565\uff0c\u5e76\u8bbe\u8ba1\u4e86\u57fa\u4e8e\u901f\u5ea6\u504f\u5dee\u7684\u6cb9\u95e8\/\u5236\u52a8\u7684\u5207\u6362\u903b\u8f91,\u8fdb\u800c\u5e94\u7528\u4e8e Boss \u667a\u80fd\u8f66\u83b7\u5f97\u4e86 DARPA\u6311\u6218\u8d5b\u7684\u51a0\u519b[5]\u30022011\u5e74\uff0c \u90ed\u6208\u7b49\u4eba\u5bf9\u534f\u540c\u9a7e\u9a76\u7cfb\u7edf\u8fdb\u884c\u4e86\u5206\u5c42\u63a7\u5236\uff0c\u4f7f\u7cfb\u7edf\u83b7\u5f97\u4e00\u4e2a\u8f83\u4f18\u7684\u63a7\u5236\u6027\u80fd[6]\u30022012 \u5e74\uff0cIftekhar\u4e3a\u8f66\u8f86\u6b63\u5e38\u884c\u9a76\u3001\u6362\u9053\u548c\u5239\u8f66\u8fd9\u4e09\u79cd\u4e0d\u540c\u7684\u9a7e\u9a76\u72b6\u6001\u8bbe\u5b9a\u4e86\u903b\u8f91\u5207\u6362\u6761\u4ef6\uff0c\u5e76\u8bbe\u8ba1\u4e86\u534f\u540c\u9a7e\u9a76\u63a7\u5236\u7b97\u6cd5\uff0c \u4ece\u800c\u5b9e\u73b0\u590d\u6742\u57ce\u5e02\u9053\u8def\u73af\u5883\u4e2d\u7684\u534f\u540c\u9a7e\u9a76[7]\u30022013\u5e74\uff0c \u4ee5\u51cf\u5c11\u71c3\u6cb9\u635f\u8017\u4e3a\u534f\u540c\u63a7\u5236\u76ee\u6807\uff0cStanger\u91cd\u65b0\u6784\u5efa\u4e86\u81ea\u4e3b\u8f66\u8f86\u7684 MPC\u4f18\u5316\u76ee\u6807\u51fd\u6570[8]\u30022015 \u5e74\uff0c Kim \u5728\u97e9\u56fd\u9996\u5c14\u5927\u5b66\u7814\u7a76\u5ba4\u5efa\u7acb\u4e86\u5177\u6709\u96c6\u603b\u53c2\u6570\u7279\u5f81\u7684\u8f66\u8f86\u7eb5\u5411\u7ebf\u6027\u6a21\u578b\uff0c\u8fdb\u800c\u8bbe\u8ba1\u4e86\u4e00\u79cd\u53c2\u6570\u65f6\u53d8\u81ea\u9002\u5e94\u901f\u5ea6\u63a7\u5236\u5668\u5e76\u8fdb\u884c\u4e86\u4eff\u771f\u5b9e\u9a8c[9]\u3002\u4f46\u662f\uff0c\u4e0a\u8ff0\u6587\u732e\u5ffd\u7565\u4e86 CACC \u8f66\u8f86\u6267\u884c\u5668\u7684\u65f6\u5ef6\uff0c\u8fd9\u4f1a\u964d\u4f4e\u8ddf\u8e2a\u7684\u5e73\u6ed1\u6027\uff0c\u751a\u81f3\u4f7f\u7cfb\u7edf\u53d1\u6563[10]\u3002<\/p>\n

\n\t\u672c\u6587\u9996\u5148\u5efa\u7acb\u4e86\u534f\u540c\u8f66\u8f86\u7cfb\u7edf\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff0c\u9488\u5bf9\u6267\u884c\u5668\u5ef6\u65f6\uff0c\u5bf9\u4f20\u7edf\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b97\u6cd5(MPC) \u8fdb\u884c\u6539\u8fdb\uff0c \u4ee5\u6b64\u8bbe\u8ba1\u4e0a\u4f4d\u63a7\u5236\u5668\u3002\u53e6\u5c06CARSIM \u4e2d\u7684\u8f66\u8f86\u4f5c\u4e3a\u590d\u6742\u8f66\u8f86\u6a21\u578b\u4ee5\u8bbe\u8ba1\u4e0b\u4f4d\u63a7\u5236\u5668\uff0c\u4e8c\u8005\u76f8\u7ed3\u5408\u5f62\u6210\u4e0a\u4e0b\u4f4d\u5206\u5c42\u7ed3\u6784\u63a7\u5236\u7684CACC \u7cfb\u7edf\uff0c\u5e76\u4e8e CARSIM\/SIMULINK \u8054\u5408\u4eff\u771f\u5e73\u53f0\u4e0a\u8fdb\u884c\u6570\u503c\u4eff\u771f\u5b9e\u9a8c\u3002<\/p>\n

\n\t2.CACC \u7cfb\u7edf\u5efa\u6a21<\/p>\n

\n\t\u672c\u6587\u91c7\u7528\u7ecf\u5178\u7684\u4e0a\u4e0b\u4f4d\u5206\u5c42\u63a7\u5236\u7ed3\u6784[11]\uff0c\u4e0a\u4f4d\u63a7\u5236\u5668\u901a\u8fc7\u671f\u671b\u8ddd\u79bb\u4ee5\u53ca\u8f66\u8f86\u4e0e\u73af\u5883\u7684\u5b9e\u65f6\u72b6\u6001\u4fe1\u606f\u51b3\u7b56\u51fa\u63a7\u5236\u8f66\u8f86\u884c\u4e3a\u7684\u671f\u671b\u52a0\u901f\u5ea6\uff1b\u4e0b\u4f4d\u63a7\u5236\u5668\u6839\u636e\u671f\u671b\u52a0\u901f\u5ea6\uff0c\u6c42\u89e3\u53d1\u52a8\u673a\u8282\u6c14\u95e8\u5f00\u5ea6\u548c\u5236\u52a8\u538b\u529b\u3002<\/p>\n

\n\t2.1 \u81ea\u4e3b\u8f66\u8f86\u7684\u8fd0\u52a8\u5b66\u65b9\u7a0b\u63cf\u8ff0<\/p>\n

\n\t\u81ea\u4e3b\u8f66\u8f86\u7eb5\u5411\u8fd0\u52a8\u8fc7\u7a0b\u7531\u4ee5\u4e0b\u5fae\u5206\u65b9\u7a0b\u63cf\u8ff0\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d s \u4e3a\u81ea\u4e3b\u8f66\u8f86\u76f8\u5bf9\u4e8e\u60ef\u6027\u53c2\u8003\u70b9\u7684\u7eb5\u5411\u4f4d\u7f6e\uff0c v, a \u5206\u522b\u4e3a\u8f66\u8f86\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff0cη\u4e3a\u53d1\u52a8\u673a\u7684\u63a7\u5236\u8f93\u5165\u3002\u51fd\u6570f \u548c g \u5206\u522b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u4e0a\u4e24\u5f0f\u4e2d\uff0c Cd \u4ee3\u8868\u4e86\u6c14\u52a8\u963b\u529b\u7cfb\u6570\uff0c m \u4e3a\u8f66\u8f86\u7684\u8d28\u91cf\uff0c t\u4e3a\u8f66\u8f86\u53d1\u52a8\u673a\u7684\u65f6\u95f4\u5e38\u6570\uff0c dm \u4e3a\u8f66\u8f86\u7684\u673a\u68b0\u963b\u529b\u3002<\/p>\n

\n\t\u5c06\u5f0f(4)\u4e0e(5)\u4e2d\u5404\u53c2\u6570\u89c6\u4e3a\u5148\u9a8c\u5df2\u77e5\uff0c\u5219\u53ef\u91c7\u7528\u4e0b\u5f0f\u4e2d\u7684\u63a7\u5236\u5f8b\u5bf9\u539f\u975e\u7ebf\u6027\u6a21\u578b\u53cd\u9988\u7ebf\u6027\u5316\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d ades \u4e3a\u4e0a\u4f4d\u63a7\u5236\u5668\u6240\u51b3\u5b9a\u7684\u671f\u671b\u52a0\u901f\u5ea6\u3002\u5c06\u5f0f(4)~(6)\u4ee3\u5165\u5f0f(3)\uff0c\u53ef\u5f97\u7ebf\u6027\u5316\u65b9\u7a0b\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u4e0a\u5f0f\u4e5f\u53ef\u5199\u4e3a\uff0c\u8868\u660e\u53d1\u52a8\u673a\u8ddf\u8e2a\u7279\u6027\u53ef\u7528\u4e00\u9636\u6ede\u540e\u5efa\u6a21\uff0c\u5373\u5b9e\u9645\u52a0\u901f\u5ea6a \u4ee5\u65f6\u95f4\u5e38\u6570τ\u8ddf\u8e2a\u671f\u671b\u52a0\u901f\u5ea6 ades  \u3002<\/p>\n

\n\t2.2  CACC\u8f66\u961f\u7cfb\u7edf\u72b6\u6001\u7a7a\u95f4\u6a21\u578b<\/p>\n

\n\t\u5982\u56fe 1\uff0c\u8003\u8651\u76f4\u9053\u4e0a\u7684\u884c\u9a76\u8f66\u961f\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 1    \u534f\u540c\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\u8f66\u961f<\/p>\n

\n\t\u5176\u4e2d si \u4ee3\u8868\u7b2ci \u8f86\u8f66\u4e0e\u60ef\u6027\u53c2\u8003\u70b9\u7684\u8ddd\u79bb\uff0cvi \u3001 ai<\/u> \u5206\u522b\u4ee3\u8868\u7b2ci \u8f86\u8f66\u7684\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\uff0c l \u4ee3\u8868\u8f66\u8eab\u7684\u957f\u5ea6\uff0c\u5219\u7b2c i \u8f86\u8f66\u4e0e\u524d\u8f66\u7684\u8f66\u95f4\u95f4\u8ddd\u8bef\u5dee\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d di,des \u662f\u7b2ci \u8f86\u8f66\u8ddd\u524d\u8f66\u7684\u671f\u671b\u8f66\u95f4\u8ddd\u79bb\uff0c\u672c\u6587\u91c7\u7528\u56fa\u5b9a\u8f66\u5934\u65f6\u8ddd\u7b56\u7565\uff0c\u6709\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d d0 \u8868\u793a\u9759\u6b62\u65f6\u6700\u5c0f\u5b89\u5168\u8ddd\u79bb\uff0c h \u4e3a\u5e38\u6570\u3002\u6b64\u5916\uff0c\u5b9a\u4e49\u901f\u5ea6\u5dee\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u6839\u636e\u5f0f(2)\u3001(7)~(10)\uff0c\u53ef\u4ee5\u63a8\u5bfc\u51fa CACC \u7cfb\u7edf\u5185\u8f66\u8f86\u7684\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u6b64\u5904<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2dx\u3001u\u548cw\u5206\u522b\u4e3a\u72b6\u6001\u77e2\u91cf\u3001\u63a7\u5236\u8f93\u5165\u4ee5\u53ca\u5e72\u6270\u3002<\/p>\n

\n\t3.\u4e0a\u4f4d\u63a7\u5236\u5668\u8bbe\u8ba1<\/p>\n

\n\t\u8fd9\u90e8\u5206\u5206\u6790\u7ebf\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u4e2dMPC \u7b97\u6cd5\u7684\u5e94\u7528\uff0c\u5e76\u5728\u6c42\u89e3\u6709\u7ea6\u675f\u7684\u6700\u4f18\u5316\u95ee\u9898\u65f6\u5f15\u5165\u677e\u5f1b\u53d8\u91cf\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u9488\u5bf9\u6709\u6267\u884c\u5668\u65f6\u5ef6\u7684\u7cfb\u7edf\uff0c\u63d0\u51fa\u6539\u8fdb MPC\u7b97\u6cd5\u3002<\/p>\n

\n\t3.1 \u7ebf\u6027\u72b6\u6001\u7a7a\u95f4 MPC\u7b97\u6cd5<\/p>\n

\n\t\u8003\u8651\u4ee5\u4e0b\u79bb\u6563\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d\u8868\u793a\u7cfb\u7edf\u72b6\u6001\u5411\u91cf\uff0c\u8868\u793a\u7cfb\u7edf\u8f93\u51fa\uff0c\u4e3a\u7cfb\u7edf\u63a7\u5236\u8f93\u5165\uff0c\u800c w(k) \u4e3a\u524d\u8f66\u52a0\u901f\u5ea6\uff0c C = [1, 0, 0, 0; 0,1, 0, 0] \u4e3a\u8f93\u51fa\u77e9\u9635\u3002<\/p>\n

\n\t\u5047\u8bbe\u6bcf\u4e2a\u91c7\u6837\u5468\u671fts\u7684\u72b6\u6001\u548c\u5e72\u6270\u53ef\u6d4b\uff0c\u901a\u8fc7\u8fed\u4ee3\u8ba1\u7b97\uff0c\u8bb0 x(k + j | k) \u4e3a\u7cfb\u7edf\u5728 k \u65f6\u523b\u5bf9 k + j \u65f6\u523b\u7684\u72b6\u6001\u9884\u6d4b\uff0c\u4ee5u(k |k) \u4ee3\u8868\u9884\u6d4b\u7684\u63a7\u5236\u8f93\u5165\uff0c\u63a7\u5236\u8fc7\u7a0b\u901a\u8fc7\u589e\u91cf\u63a7\u5236Δu \u5b9e\u73b0\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5219\u53ef\u5f97\u5230\u603b\u7684\u6a21\u578b\u9884\u6d4b\u72b6\u6001\u65b9\u7a0b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d\u53c2\u6570\u77e9\u9635Φ,Γ,F,G \u89c1[12]\uff0ck\u65f6\u523b\u7684\u9884\u6d4b\u63a7\u5236\u8f93\u51fa\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5b9a\u4e49\u6027\u80fd\u6307\u6807\u51fd\u6570:<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d yref \u4e3a\u53c2\u8003\u8f68\u8ff9\uff0cN \u4e3a\u9884\u6d4b\u65f6\u57df\uff0cNC \u4e3a\u63a7\u5236\u65f6\u57df\u3002Q, R \u5206\u522b\u4e3a\u8bef\u5dee\u548c\u8f93\u5165\u52a0\u6743\u77e9\u9635\u3002<\/p>\n

\n\t\u4f18\u5316\u51fd\u6570\u7684\u5411\u91cf\u5f62\u5f0f\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d<\/p>\n

\n\t<\/p>\n

\n\t\u5b9a\u4e49\u5411\u91cf E(k) \u4e3a\u7cfb\u7edf\u81ea\u7531\u54cd\u5e94\u4e0e\u672a\u6765\u76ee\u6807\u8f68\u8ff9\u7684\u504f\u5dee\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d<\/p>\n

\n\t<\/p>\n

\n\t\u5c06(18)\u5f0f\u4ee3\u5165(17)\u53ef\u5f97\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u4e0a\u5f0f\u53ef\u88ab\u5199\u4e3a\u4e8c\u6b21\u89c4\u5212\u7684\u6807\u51c6\u5f62\u5f0f\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d\uff0c MΔu \u4e3a Γ \u4e2d\u6bcf\u4e2a\u5206\u5757\u77e9\u9635\u5de6\u4e58C \u3002<\/p>\n

\n\t\u5047\u8bbe\u4f18\u5316\u51fd\u6570\u53d7\u5230\u5982\u4e0b\u7684\u9010\u70b9\u7ea6\u675f\u6761\u4ef6\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u4e0a\u5f0f\u5bf9\u5e94\u7684\u5411\u91cf\u5f62\u5f0f\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d<\/p>\n

\n\t<\/p>\n

\n\tI \u4e3a P \u7ef4\u5355\u4f4d\u77e9\u9635\uff0c\u5176\u4e2d\u53c2\u6570\u77e9\u9635ΔUmax ,ΔUmin ,Umax,U min  \u89c1[11]\uff0cΠ \u4e3a PNC \u7ef4\u5355\u4f4d\u77e9\u9635\u3002<\/p>\n

\n\t3.2 \u5f15\u5165\u677e\u5f1b\u53d8\u91cf<\/p>\n

\n\t\u6c42\u89e3\u6709\u7ea6\u675f\u6700\u4f18\u5316\u95ee\u9898\u65f6\uff0c\u8fc7\u4e8e\u4e25\u683c\u7684\u7ea6\u675f\u53ef\u80fd\u5f97\u4e0d\u5230\u53ef\u884c\u89e3\uff0c\u9700\u5f15\u5165\u677e\u5f1b\u53d8\u91cf\u4f5c\u4e3a\u7f5a\u51fd\u6570\u52a0\u5165\u539f\u76ee\u6807\u51fd\u6570\uff0c\u5f97\u5230\u65b0\u7684\u4f18\u5316\u51fd\u6570\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u6b64\u5904 ε \u4e3a\u677e\u5f1b\u53d8\u91cf\u800c ρ \u4e3a\u5176\u6743\u91cd\u3002\u65b0\u7684\u7ea6\u675f\u6761\u4ef6\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t3.3 \u8003\u8651\u6267\u884c\u5668\u5ef6\u65f6\u7684\u6539\u8fdb MPC \u7b97\u6cd5<\/p>\n

\n\t\u7531\u4e8eΔu (k ) \u662f\u6781\u5c0f\u5316\u6027\u80fd\u6307\u6807\u5f97\u5230\u7684\u89e3\uff0c\u5219\u5fc5\u987b\u6ee1\u8db3\u6781\u503c\u5fc5\u8981\u6761\u4ef6 \uff0c\u53ef\u5f97\u5f0f(22)\u7684\u89e3\uff1a<\/p>\n

\n\t<\/p>\n

\n\tk \u65f6\u523b\u7684\u5b9e\u9645\u589e\u91cf\u63a7\u5236\u8f93\u5165\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5bf9\u6267\u884c\u5668\u65f6\u5ef6\u7cfb\u7edf\uff0c\u57fa\u4e8e\u52a8\u6001\u77e9\u9635\u63a7\u5236\u601d\u60f3\u6539\u8fdb\u4f20\u7edf MPC \u7b97\u6cd5\u3002\u5c06\u589e\u91cf\u63a7\u5236\u8f93\u5165\u89c6\u4e3a\u9636\u8dc3\u8f93\u5165\uff0c\u5219\u6267\u884c\u5668\u65f6\u5ef6\u5bf9\u5e94\u7cfb\u7edf\u9636\u8dc3\u54cd\u5e94\u7cfb\u6570\u7684\u65f6\u5ef6\uff0c\u8fdb\u800c\u8f6c\u6362\u4e3a\u63a7\u5236\u8f93\u5165\u7684\u65f6\u5ef6\u3002\u6545\u6267\u884c\u5668\u65f6\u5ef6\u4e3aθ \u7684\u7cfb\u7edf\u76f8\u5f53\u4e8e\u5177\u6709\u7eaf\u6ede\u540e\u62cd\u7684\u79bb\u6563\u6a21\u578b\u5176\u589e\u91cf\u63a7\u5236\u8f93\u5165\u8868\u793a\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5bf9\u5e94\u7684\u4f18\u5316\u53c2\u6570\u53d8\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u7531\u6539\u8fdb\u7b97\u6cd5\u6c42\u5f97\u7684\u63a7\u5236\u8f93\u5165\u4e3a:<\/p>\n

\n\t<\/p>\n

\n\t\u4ee5\u4e0a\u5206\u6790\u8bf4\u660e\uff0c\u5bf9\u4e8e\u6267\u884c\u5668\u65f6\u5ef6\u7cfb\u7edf\uff0c\u5728\u4f20\u7edfMPC \u63a7\u5236\u5668\u57fa\u7840\u4e0a\uff0c\u5c06\u53c2\u6570\u6309\u5f0f(27)\u8fdb\u884c\u4fee\u6539\uff0c\u5e76\u4ee5Δu(k-r) \u4f5c\u4e3a k \u65f6\u523b\u7684\u589e\u91cf\u63a7\u5236\u8f93\u5165\u5373\u53ef\u3002<\/p>\n

\n\t4.\u4e0b\u4f4d\u63a7\u5236\u5668\u8bbe\u8ba1<\/p>\n

\n\t\u5b9e\u9645\u8f66\u8f86\u5728\u884c\u9a76\u7684\u8fc7\u7a0b\u4e2d\uff0c\u52a0\u901f\u63a7\u5236\u548c\u5236\u52a8\u63a7\u5236\u5206\u5f00\u6267\u884c\uff0c\u53ef\u6839\u636e\u671f\u671b\u52a0\u901f\u5ea6\u5927\u5c0f\u8fdb\u884c\u903b\u8f91\u5207\u6362\uff0c\u5f53 ades ≥ 0 \u65f6\uff0c\u91c7\u7528\u52a0\u901f\u63a7\u5236\uff0c\u5f53 ades<0  \u65f6\uff0c\u91c7\u7528\u5236\u52a8\u63a7\u5236\u3002<\/p>\n

\n\t4.1 \u9006\u52a8\u529b\u5b66\u6a21\u578b<\/p>\n

\n\t\u56fe 2 \u4e3a\u4e0d\u540c\u6cb9\u95e8\u5f00\u5ea6\u4e0b\u53d1\u52a8\u673a\u8f6c\u901f\u4e0e\u626d\u77e9\u7684\u5173\u7cfb\u66f2\u7ebf\uff0c\u5176\u4e2d\u6bcf\u6761\u66f2\u7ebf\u65c1\u8fb9\u7684\u6570\u5b57\u5bf9\u5e94\u6cb9\u95e8\u5f00\u5ea6\u3002<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 2 \u9006\u52a8\u529b\u5b66\u53d1\u52a8\u673a\u626d\u77e9\u7279\u6027\u66f2\u7ebf<\/p>\n

\n\t\u82e5\u5df2\u77e5\u53d1\u52a8\u673a\u8f6c\u901f we \u548c\u671f\u671b\u626d\u77e9Te,des \uff0c\u4fbf\u53ef\u901a\u8fc7\u67e5\u8868\u6cd5\u5f97\u5230\u5bf9\u5e94\u7684\u671f\u671b\u6cb9\u95e8\u5f00\u5ea6αdes \uff0c\u5373\uff1a<\/p>\n

\n\t<\/p>\n

\n\t4.2 \u52a0\u901f\u63a7\u5236<\/p>\n

\n\t\u81ea\u4e3b\u8f66\u8f86\u7eb5\u5411\u884c\u9a76\u662f\u6c7d\u8f66\u7275\u5f15\u529b\u3001\u98ce\u963b\u529b\u4e0e\u5730\u9762\u963b\u529b\u5171\u540c\u4f5c\u7528\u7684\u7ed3\u679c\uff0c\u884c\u9a76\u72b6\u6001\u4e0e\u8f66\u8f86\u7684\u5177\u4f53\u6a21\u578b\u3001\u9053\u8def\u7684\u5149\u6ed1\u7a0b\u5ea6\u4ee5\u53ca\u98ce\u963b\u529b\u7cfb\u6570\u7684\u5927\u5c0f\u7b49\u606f\u606f\u76f8\u5173\u3002\u7eb5\u5411\u884c\u9a76\u8fc7\u7a0b\u4e2d\u7684\u7b49\u6548\u7a7a\u6c14\u963b\u529b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5176\u4e2d  ρa \u4e3a\u7a7a\u6c14\u8d28\u91cf\u5bc6\u5ea6\uff0cCd \u4e3a\u7a7a\u6c14\u963b\u529b\u7cfb\u6570\uff0cAF \u4e3a\u8f66\u8f86\u7684\u6b63\u9762\u8fce\u98ce\u9762\u79ef\uff0cVx \u548cVwind \u5206\u522b\u4e3a\u8f66\u8f86\u7684\u7eb5\u5411\u901f\u5ea6\u4ee5\u53ca\u98ce\u901f\u3002<\/p>\n

\n\t\u7a7a\u6c14\u963b\u529b Faero \u662f\u8f66\u8f86\u901f\u5ea6\u7684\u4e8c\u6b21\u51fd\u6570\uff0c\u53ef\u8868\u793a\u4e3a\u53d1\u52a8\u673a\u8f6c\u901f we \u7684\u4e8c\u6b21\u51fd\u6570\uff1a <\/p>\n

\n\t<\/p>\n

\n\t\u7531\u5f0f(30),\u6709<\/p>\n

\n\t<\/p>\n

\n\tRp \u4e3a\u8f66\u8f6e\u8f6c\u901f ww \u4e0e\u53d1\u52a8\u673a\u8f6c\u901f we \u4e4b\u95f4\u7684\u6bd4\u503c\uff0c\u5373\u53d8\u901f\u9f7f\u8f6e\u6bd4\u3002 reff  \u4e3a\u8f6e\u80ce\u6709\u6548\u534a\u5f84\u3002<\/p>\n

\n\t\u52a0\u901f\u8fc7\u7a0b\u4e2d\uff0c\u53d1\u52a8\u673a\u671f\u671b\u626d\u77e9Te des , \u4e0e\u671f\u671b\u52a0\u901f\u5ea6\u4e4b\u95f4\u7684\u5173\u7cfb\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5f0f\u4e2d\u662f\u53cd\u6620\u5728\u53d1\u52a8\u673a\u4fa7\u7684\u6709\u6548\u8f6c\u52a8\u60ef\u91cf\uff0c Ie \u4e3a\u53d1\u52a8\u673a\u8f6c\u52a8\u60ef\u91cf\uff0cm \u4e3a\u6c7d\u8f66\u8d28\u91cf\u3002Rx \u4e3a\u6240\u6709\u6eda\u52a8\u963b\u529b\u4e4b\u548c\uff0c\u4e0e\u6eda\u52a8\u963b\u5c3c\u7cfb\u6570 f \u6709\u5173\uff0c\u56e0\u4e3a f \u4e00\u822c\u53d6\u503c\u4e3a0.01-0.04\uff0c\u6545 Rx \u503c\u5f88\u5c0f\uff0c\u672c\u6587\u4e88\u4ee5\u5ffd\u7565\u3002\u7531\u4e8e<\/p>\n

\n\t<\/p>\n

\n\t\u5219Je \u53ef\u6539\u5199\u4e3a\uff0c\u5f0f(32)\u91cd\u5199\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u672c\u6587\u7814\u7a76\u5bf9\u8c61\u4e3a\u524d\u8f6e\u9a71\u52a8\u5f0f\u7684 B \u578b\u6380\u80cc\u5f0f\u8f7f\u8f66\uff0c\u7531\u9006\u52a8\u529b\u5b66\u5173\u7cfb\u5f97\u5230\u76f8\u5e94\u7684\u671f\u671b\u6cb9\u95e8\u5f00\u5ea6αdes ,\u91c7\u7528 PID \u7b97\u6cd5\u5bf9\u8bef\u5dee\u8fdb\u884c\u6821\u6b63\uff0c\u6700\u7ec8\u6cb9\u95e8\u8f93\u5165\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u6d4b\u8bd5\u540e\u8bbe\u5b9a\u53c2\u6570\u4e3a\u3002<\/p>\n

\n\t4.3 \u5236\u52a8\u63a7\u5236<\/p>\n

\n\t\u6c7d\u8f66\u5236\u52a8\u65f6\uff0c\u6839\u636e\u671f\u671b\u52a0\u901f\u5ea6\u6c42\u51fa\u671f\u671b\u5236\u52a8\u538b\u529b\u3002\u5236\u52a8\u8fc7\u7a0b\u65f6\u8f66\u8f86\u52a8\u529b\u5b66\u65b9\u7a0b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u5728\u5236\u52a8\u529b\u4e0d\u8d85\u8fc7\u8def\u9762\u6240\u80fd\u8fbe\u5230\u7684\u6700\u5927\u5236\u52a8\u529b\u7684\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5\u5c06\u5236\u52a8\u529b Fbdes \u4e0e\u5236\u52a8\u538b\u529b Pbdes \u89c6\u4e3a\u7ebf\u6027\u5173\u7cfb\uff1a<\/p>\n

\n\t<\/p>\n

\n\tCARSIM \u4eff\u771f\u53ef\u5f97  Kb = 1286.174\u3002<\/p>\n

\n\t\u7531\u5f0f(36)\u4e0e\u5f0f(37)\u53ef\u5f97\u671f\u671b\u5236\u52a8\u538b\u529b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u91c7\u7528\u4e0e\u52a0\u901f\u63a7\u5236\u65f6\u76f8\u540c\u7684 PID \u63a7\u5236\u5668\u8fdb\u884c\u6821\u6b63\uff0c\u5f97\u5230\u6700\u7ec8\u7684\u5236\u52a8\u538b\u529b\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t5.CARSIM\/SIMULINK \u8054\u5408\u4eff\u771f<\/p>\n

\n\tCARSIM \u63d0\u4f9b\u4e86\u4e0e SIMULINK \u8054\u5408\u4eff\u771f\u7684\u63a5\u53e3\uff0c\u901a\u8fc7 S \u51fd\u6570\u5b9e\u73b0\u901a\u4fe1\u3002\u8054\u5408\u4eff\u771f\u5b9e\u9a8c\u91c7\u7528\u7684CARSIM \u8f66\u8f86\u5747\u4e3a\u524d\u8f6e\u9a71\u52a8\u5f0f\u7684 B \u578b\u8f7f\u8f66\uff0c\u53d1\u52a8\u673a\u529f\u7387\u4e3a 125kW\uff0c\u4eff\u771f\u73af\u5883\u4e3a\u957f 1200m \u7684\u5355\u884c\u9053\u3002\u8f66\u8f86\u5728 CARSIM \u4e2d\u8bbe\u7f6e\u4e3a“AT 4th Mode”\u8fd0\u52a8\u6a21\u5f0f\uff0c\u5373\u8f66\u8f86\u81ea\u52a8\u9a7e\u9a76<\/u>\u5728 4 \u6863\u53ca 4 \u6863\u4ee5\u4e0b\uff0c\u6839\u636e\u53d1\u52a8\u673a\u8f6c\u901f\u81ea\u52a8\u9009\u62e9\u4f20\u52a8\u6bd4\u3002\u81ea\u52a8\u5207\u6362\u8f6c\u901f\u66f2\u7ebf\u5982\u56fe 3 \u6240\u793a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 3 \u52a0\u51cf\u6863\u4e0b\u6cb9\u95e8\u95e8\u5f00\u5ea6\u4e0e\u53d1\u52a8\u673a\u8f6c\u901f\u66f2\u7ebf<\/p>\n

\n\t\u8f66\u8f86\u8fd0\u884c\u5728 1 \u6863\u65f6\u4f20\u52a8\u6bd4\u4e3a 0.28,\u5728 2 \u6863\u65f60.485, \u5728 3 \u6863\u65f6 0.71,\u5728 4 \u6863\u65f6\u4e3a 1.00\u3002<\/p>\n

\n\t\u5b9e\u9a8c\u6837\u8f66\u5404\u53c2\u6570\u5982\u8868 1 \u6240\u793a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u7ea6\u675f\u53c2\u6570\u3001\u677e\u5f1b\u53d8\u91cf\u548c\u63a7\u5236\u5668\u4f18\u5316\u53c2\u6570\u8bbe\u4e3a\uff1a<\/p>\n

\n\t<\/p>\n

\n\t<\/p>\n

\n\t\u8054\u5408\u4eff\u771f\u6a21\u578b\u5982\u4e0b\uff1a<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 4 \u4e0a\u4e0b\u5206\u5c42\u63a7\u5236\u7cfb\u7edf\u4eff\u771f\u6a21\u578b<\/p>\n

\n\t\u6267\u884c\u5668\u5ef6\u65f6\u4e3a 0.2s\uff0c\u91c7\u6837\u5468\u671f 0.1s\uff0c\u57fa\u4e8e\u4e0a\u4e0b\u4f4d\u5206\u5c42\u63a7\u5236\u7684 CACC \u7cfb\u7edf\u8fdb\u884c\u5efa\u6a21\u4eff\u771f\u3002\u4e09\u8f86\u8f66\u7684\u521d\u59cb\u4f4d\u7f6e\u5206\u522b\u4e3a 20m\u300112m \u548c 4m\uff0c\u521d\u59cb\u901f\u5ea6\u4e0e\u52a0<\/p>\n

\n\t\u901f\u5ea6\u90fd\u4e3a 0\u3002\u9996\u8f66\u901f\u5ea6\u66f2\u7ebf\u5982\u56fe 5 a)\u4e2d\u7684 V1\u6240\u793a\u3002<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 5 \u4e24\u79cd\u7b97\u6cd5\u4e0b CACC \u7cfb\u7edf\u8f66\u8f86\u7684\u901f\u5ea6\u66f2\u7ebf<\/p>\n

\n\t\u7531\u56fe 5 \u53ef\u77e5\uff0c\u91c7\u7528\u4f20\u7edf MPC \u7b97\u6cd5\u7684\u81ea\u4e3b\u8f66\u8f86\u867d\u7136\u80fd\u8ddf\u8e2a\u4e0a\u524d\u8f66\u7684\u901f\u5ea6\uff0c\u4f46\u8ddf\u8e2a\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u8d85\u901f\u548c\u8f83\u5927\u6296\u52a8\uff0c\u53ef\u80fd\u5bfc\u81f4\u8f66\u961f\u7684\u4e0d\u7a33\u5b9a\u3002\u800c\u91c7\u7528\u6539\u8fdbMPC \u7b97\u6cd5\u65f6\u540e\u9762\u8f66\u8f86\u6ca1\u6709\u8d85\u901f\u884c\u4e3a\uff0c\u8ddf\u8e2a\u66f2\u7ebf\u76f8\u5bf9\u5e73\u6ed1\uff0c\u961f\u5217\u8fd0\u884c\u7a33\u5b9a\uff0c\u9a8c\u8bc1\u4e86\u6539\u8fdb\u7b97\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n

\n\t<\/p>\n

\n\t\u56fe 6 \u4e24\u79cd\u7b97\u6cd5\u4e0b CACC \u7cfb\u7edf\u8f66\u8f86\u95f4\u95f4\u8ddd\u8bef\u5dee<\/p>\n

\n\t\u56fe 6 \u4e2d ,es,1-2\uff0ces2-3\u5206\u522b\u4ee3\u8868\u9996\u8f66\u4e0e\u7b2c\u4e8c\u8f86\u8f66\uff0c\u7b2c\u4e8c\u8f86\u8f66\u4e0e\u7b2c\u4e09\u8f86\u8f66\u4e4b\u95f4\u7684\u95f4\u8ddd\u8bef\u5dee\u3002\u5bf9\u6bd4\u53ef\u77e5\uff0c\u4f20\u7edf MPC \u7b97\u6cd5\u4e0b\u8f66\u8f86\u95f4\u8ddd\u8d85\u8fc7\u4e86\u7ea6\u675f\u9650\u5236\uff0c\u95f4\u8ddd\u8fc7\u957f\u4f1a\u5bfc\u81f4\u65e0\u6cd5\u4fdd\u6301\u7d27\u5bc6\u961f\u5f62\uff0c\u8fdd\u80cc CACC \u7cfb\u7edf\u4fdd\u6301\u8f83\u5c0f\u95f4\u8ddd\u4ee5\u589e\u5927\u9053\u8def\u4ea4\u901a\u5bb9\u91cf\u7684\u8bbe\u8ba1\u521d\u8877\u3002\u6539\u8fdbMPC \u7b97\u6cd5\u53ef\u5c06\u8f66\u8f86\u95f4\u8ddd\u8bef\u5dee\u4fdd\u6301\u5728 1.5m \u4ee5\u5185\uff0c\u662f\u4f20\u7edf\u65b9\u6cd5\u7684 18.7%\uff0c\u9a8c\u8bc1\u4e86\u6539\u8fdb\u7b97\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n

\n\t\u5f53\u6267\u884c\u5668\u65f6\u5ef6\u4e3a 0.4s \u65f6\uff0c\u8f66\u8f86\u8ddf\u8e2a\u6027\u80fd\u4e0b\u964d\uff0c\u7b2c\u4e8c\u8f86\u8f66\u548c\u9996\u8f66\u7684\u6700\u5927\u95f4\u8ddd\u8bef\u5dee\u8fbe\u5230 2.5m\uff0c\u7b2c\u4e09\u8f86\u8f66\u4e0e\u7b2c\u4e8c\u8f86\u8f66\u7684\u95f4\u8ddd\u8bef\u5dee\u5219\u6700\u9ad8\u8fbe\u5230 3.96m\uff0c\u76f8\u6bd4\u65f6\u5ef6\u4e3a 0.2s \u65f6\u53d8\u5dee\uff1b\u65f6\u5ef6\u4e3a 0.4s \u65f6\u4f20\u7edf MPC \u7b97\u6cd5\u65e0\u6cd5\u4fdd\u8bc1\u7cfb\u7edf\u7684\u7a33\u5b9a\u6027\u3002\u6267\u884c\u5668\u65f6\u5ef6\u4e3a 0.1s \u65f6\uff0c\u901f\u5ea6\u8ddf\u8e2a\u6bd4\u8f83\u5e73\u6ed1\uff0c\u95f4\u8ddd\u8bef\u5dee\u4e5f\u63a7\u5236\u5728 1.2m \u4ee5\u5185\u3002\u6539\u8fdb\u540e\u7684\u7b97\u6cd5\u5728\u6267\u884c\u5668\u65f6\u5ef6\u5b58\u5728\u7684\u60c5\u51b5\u4e0b\u4ecd\u80fd\u5b9e\u73b0\u8f66\u8f86\u8ddf\u8e2a\uff0c\u4f46\u968f\u7740\u65f6\u5ef6\u589e\u5927\uff0c\u7cfb\u7edf\u6027\u80fd\u6307\u6807\u6709\u6240\u4e0b\u964d\u3002<\/p>\n

\n\t6.\u7ed3\u675f\u8bed<\/p>\n

\n\t\u672c\u6587\u9488\u5bf9\u8f66\u8f86\u7684\u6267\u884c\u5668\u65f6\u5ef6\uff0c\u57fa\u4e8e\u52a8\u6001\u77e9\u9635\u65b9\u6cd5\u6539\u8fdb\u4e86\u4f20\u7edf CACC \u6a21\u578b\u9884\u6d4b\u63a7\u5236\u7b97\u6cd5\u3002\u5728\u6bcf\u4e2a\u91c7\u6837\u65f6\u523b\uff0c\u4e0a\u4f4d\u63a7\u5236\u5668\u5c06\u63a7\u5236\u91cf\u6c42\u89e3\u95ee\u9898\u8f6c\u5316\u4e3a\u4e00\u4e2a\u4e8c\u6b21\u578b\u4f18\u5316\u95ee\u9898\uff0c\u5f97\u5230\u8f66\u8f86\u671f\u671b\u52a0\u901f\u5ea6\uff0c\u518d\u6839\u636e\u8f66\u8f86\u9006\u7eb5\u5411\u52a8\u529b\u5b66\u6a21\u578b\u8bbe\u8ba1 PID \u4e0b\u4f4d\u63a7\u5236\u5668\uff0c\u4e8c\u8005\u76f8\u7ed3\u5408\u7ec4\u6210\u5206\u5c42\u63a7\u5236\u7ed3\u6784\uff0c\u5b9e\u73b0\u5bf9\u590d\u6742\u8f66\u8f86\u6a21\u578b\u7684\u534f\u540c\u63a7\u5236\u3002CARSIM\/SIMULINK \u8054\u5408\u4eff\u771f\u9a8c\u8bc1\u4e86\u6539\u8fdb\u7b97\u6cd5\u6709\u6548\u6027\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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