Research On Stop&Go Control Of Vehicle Adaptive Cruise System(ACC)

Based on the advanced driver assistance systems especially intercity driving assistance function of market demand and the rapid development of the research background,put forward the adaptive cruise control system stop and go control research,and choose to stop control strategy design of adaptive cruise system architecture based on layered play.It includes the environment awareness layer,the kinematic decision layer and the actuator control layer.Effective target selector as part of environmental perception layer,this paper effectively target according to the method of constant curvature at present the identification,and proposes the security evaluation indicators are running around the vehicle based on the definition of,for different driving state of the vehicle logo and then the similarities and differences of treatment.The kinematic decision layer improves the control algorithm by combining the mathematical function with the traditional control method,including the safety distance model considering the trend of the front car movement,the improved linear two type distance control algorithm with the attenuation index function,and the improved proportional integral speed control algorithm.The actuator control layer is improved in this paper,which is based on the traditional vehicle longitudinal dynamic torque control method,that is,the torque control of the vehicle dynamic model feedforward and PID feedback is used to realize the vehicle longitudinal acceleration following control.The switching strategies of the control mode include the driving and braking switching,the speed and distance control switching strategies,and the control logic of stop and go is designed in this paper.In order to verify the effectiveness of the designed adaptive cruise control strategy,the software simulation platform of ACC starting and stopping control system is built on the basis of Carsim and Matalab/Simulink software.Based on the platform,the typical working conditions of full speed ACC are simulated and analyzed,and the algorithm is preliminarily debugged and verified.It includes: cruise control,cut in and out,catch up with the front car,start and stop automatically,and finally analyze the influence of different parameters on the control effect.Through the full software co simulation and parameter tuning,the design strategy needs further vehicle road test.First,based on the research vehicle,Dongfeng Fengshen AX7 built the test platform,that is,vehicle modification and upgrading of hardware and software.It mainly includes the design of the overall system architecture of the test platform,the hardware installation of the test car,the network communication of the whole vehicle,the debugging of the sensor and the actuator interface,the debugging of the HMI humancomputer interaction algorithm and so on.Then,on the basis of that,the road test research of target selection algorithm is carried out.Finally,the full speed ACC algorithm debugging and verification,including the full speed range of the speed cruise,following the low speed vehicle,following the stationary target,automatic start and stop and other conditions.Through a large number of software joint simulation and real road test,the algorithm of this paper is better verified,and after calibration,it shows the expected effect of car following,stop and go.etc.