Adaptive Cruise Control System With Multimode Switching

With the increase of the promotion for automatic driving nationwide,the Advanced Driver Assistant Systems has attracted more and more attention as a prerequisite for automatic driving.According to statistics,about ninety percent of traffic accidents are caused by driver’s fatigue driving.In order to reduce driver’s driving load and improve driving safety and comfort,the adaptive cruise control system in this paper is studied.First of all,the development status and research contents of the adaptive cruise control system are investigated,including the strategy,the algorithm and the structure of system,then the adaptive cruise control system with a variety of working conditions is put forward.Secondly,the adaptive cruise control system is divided into three parts based on the idea of hierarchical design including the perception layer,decision-making layer and execution layer.In the perception layer,the information processing schemes of the straight and the bend,the discriminant scheme of the straight and the bend,and the discriminant scheme of whether the leading car and the following car are located in the same lane are proposed;the overall control strategy of this system is formulated in decision-making,that is,the states of the system are divided into waiting,opening and closing according to the relevant standards,and the switching strategy between them is formulated,the working conditions of the system are divided into cruising,following,lane change and takeover by analyzing the actual traffic environment,the switching strategy between them and the control strategy of themselves are formulated,and the optimal control algorithm for the application in the following is studied;In the executive layer,the conversion models of the target acceleration to the braking force or the driving force are set up and the switching strategy of the braking system with the driving system is formulated.Then,the control strategy model is built in the MATLAB to study the optimal control algorithm of following,and its simulation results are compared to the traditional PID’s.It is also transplanted to PreScan in which the vehicle simulation model is built and three simulation scenes are set up to verify the feasibility of the control strategy with MATLAB.Finally,the real vehicle experimental platform is built and debugged including the building and debugging of perception system,control system and execution system,and the real vehicle tests of cruising,following,lane change,takeover and the switching between them are carried out to verify the system strategy based on the real vehicle platform.It is proved that the control strategy of the adaptive cruise control system is feasible by simulation and experiment.