车辆自适应巡航控制的内秉模态特性

高岩飞^1,2,3，程玉虎¹，蒋亨雷³，任乾明³，黄雪涛³，侯庆高³，杜明洋³

1．中国矿业大学信息与控制工程学院，江苏 徐州 221008；2．浙江峻和科技股份有限公司，浙江 宁波 315400；

3．山东交通学院汽车工程学院，山东 济南 250357

摘要：为分析车辆自适应巡航控制下的跟驰状态对驾乘舒适性的影响，基于刺激-反应类线性跟驰模型，分别模拟跟驰车在微尺度避撞工况、微尺度扰动工况和全球统一轻型车辆测试循环（world light vehicle test cycle，WLTC）工况的速度-时间图像，采用经验模态分解（empirical mode decomposition，EMD）和快速傅里叶变换（fast Fourier transform，FFT）相结合的时频分析方法提取跟驰车的内秉模态特性，分析低频下不同驾驶工况对驾乘人员舒适性的影响。结果表明：不同驾驶工况的内秉模态频率不同，频率越小，车辆的振幅越大；相较于微尺度避撞工况和扰动工况，WLTC工况的内秉模态频率带宽分布较宽，幅值较高，波动能量较大；WLTC工况下，频率小于0.10 Hz的超低频区的内秉模态幅值较高，人体恶心程度较严重，对运动病的贡献较大。

关键词：跟驰模型；自适应巡航控制；EMD；FFT；内秉模态特性

Intrinsic modal characteristics of vehicle adaptive cruise control

GAO Yanfei^1,2,3, CHENG Yuhu¹, JIANG Henglei², REN Qianming³, HUANG Xuetao³, HOU Qinggao³, DU Mingyang³

1.School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221008, China;

2. Zhejiang Junhe Technology Co., Ltd., Ningbo 315400, China;

3. School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, China

Abstract:To investigate the influence of car-following status on driving comfort, a stimulus-response linear car-following model is used to simulate the speed trajectory of the following vehicle under the working conditions of microscale collision avoidance behavior, microscale disturbance behavior, and the world light vehicle test cycle (WLTC). A time-frequency analysis method combining both the empirical mode decomposition (EMD) and fast Fourier transform (FFT) is adopted to extract the intrinsic modal characteristics of car-following behavior, and analyze the impact of different driving conditions on the comfort of drivers and passengers at low frequencies. The results show that the frequency of the intrinsic modal is different in different driving conditions, and the smaller the frequency is, the greater the amplitude of the vehicle is. Compared to the microscale collision avoidance condition and disturbance condition, the frequency bandwidth distribution of the intrinsic vibration mode in the WLTC condition is wider, and the amplitude is also higher with larger fluctuation energy. Under the WLTC working conditions, the amplitude of the intrinsic modal in the ultra-low frequency range with the frequency less than 0.10 Hz is higher, and the degree of nausea in the human body is more severe, which makes a greater contribution to motion sickness.

Keywords:car-following model; adaptive cruise control; EMD; FFT; intrinsic modal characteristics