| With the rapid development of intelligent vehicles and electric vehicles,the research of Advanced Driver Assistance Systems(ADAS)has attracted more and more attention in the automotive industry.Adaptive Cruise Control(ACC)system is one of the indispensable functions of ADAS.ACC system can not only reduce energy consumption,but improve road utilization rate and driving safety appropriately,as well as reduce the driving burden of drivers.At the same time,in order to ensure the security and reliability of the ACC system,how to conduct efficient simulation test for the ACC system is particularly important.In this paper,ACC system is simulated based on ADAS platform.Firstly,the vehicle simulation model was established.The vehicle modeling of the main car and the front car was carried out in the vehicle dynamics simulation software Car Sim.The radar model was established to obtain the position information of the front and rear cars,and the motor model and brake model of the vehicle were built.Then,the simulation architecture of ACC system is designed,and the safety distance model of the front and rear vehicles is established by comprehensively considering the speed of the main vehicle,the relative speed of the two vehicles,the acceleration of the target vehicle and the adhesion coefficient of the road surface.The hierarchical control is adopted and the control algorithm of each mode and the switching strategy between modes are formulated.For the cruise mode at constant speed,the PID control algorithm is selected for the design.For the following mode,the output following model is established by the linear quadratic regulation optimal control algorithm.Finally,the ADAS platform is introduced.According to the overall framework of the platform,the functions of hardware and software,the integration of hardware and software and the main information flow are respectively introduced.The co-simulation model of ACC system was imported into the ADAS platform,and the simulation experiments were carried out in different test scenarios and test conditions of straight road,curve road and ramp.The simulation results indicate that the designed ACC system can implement the function of adaptive cruise control with high accuracy and reliability. |
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