Simulation And Analysis Of Vehicle Adaptive Cruise Control System Based MPC Algorithm

The vehicle adaptive cruise control system(ACC)is an advanced driver assistance system(ADAS)that is developed from the cruise control system(CC).ACC system not only have the cruise function of CC system,but also can follow the preceding with a certain safety distance,reduce driving burden,improve driving comfort,reduce traffic accidents,ease traffic pressure.Unlike the simplified or local modeling methods adopted by most researchers in the past,this paper established a complex longitudinal dynamic model for the driving environment of vehicle ACC system in CarSim,and the inverse dynamical model of vehicle driving and braking in Simulink.This modeling method can better reflect the real complex movement of the car state,so that simulation closer to the real driving situation.Considering that the vehicle is a complex time-varying,hysteresis,nonlinear system,the traditional control method is less robust and adaptable,but the MPC algorithm does not need an accurate model to achieve multiple target optimization and Constrained,and can make up for the disturbance caused by perturbation,time variation,model mismatch and so on.Therefore,the MPC algorithm is used to design the upper controller of ACC system distance control mode in this thesis.Compared with the traditional PID controller on the ACC system speed control mode design of the upper controller,using the model predictive control(MPC)algorithm to design it in this thesis,significantly improved the comfort in speed control mode and the comfort when speed control mode and distance control mode is switched.Most of the existing speed control(CC)mode and distance control(ACC)mode switching logic is too simple,ignoring the comfort and economy,in this thesis we put forward a new switching logic to ensure the safety of driving,comfort and economy and avoid frequent switching between speed control mode and distance control mode.Besides,the speed control,distance control and switching between the two modes are simulated and verified.The results show that the ACC system can guarantee good robustness safety comfort and economy under the typical scenarios of the above mode.