Using improved particle swarm optimization totune PID controllers in cooperative collision avoidance systems

Abstract

The introduction of proportional-integral-derivative (PID) controllersinto cooperative collision avoidance systems (CCASs) has been hinderedby difficulties in their optimization and by a lack of study of theireffects on vehicle driving stability, comfort, and fuel economy. Inthis paper, we propose a method to optimize PID controllers usingan improved particle swarm optimization (PSO) algorithm, and to bettermanipulate cooperative collision avoidance with other vehicles. First,we use PRESCAN and MATLAB/Simulink to conduct a united simulation,which constructs a CCAS composed of a PID controller, maneuver strategyjudging modules, and a path planning module. Then we apply the improvedPSO algorithm to optimize the PID controller based on the dynamicvehicle data obtained. Finally, we perform a simulation test of performancebefore and after the optimization of the PID controller, in whichvehicles equipped with a CCAS undertake deceleration driving and steeringunder the two states of low speed (≤50 km/h) and high speed (≥100km/h) cruising. The results show that the PID controller optimizedusing the proposed method can achieve not only the basic functionsof a CCAS, but also improvements in vehicle dynamic stability, ridingcomfort, and fuel economy.

Keywords

Cooperative collision avoidance system (CCAS) / Improved particle swarm optimization (PSO) / PID controller / Vehicle comfort / Fuel economy

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