Design And Verification Of Predictive Adaptive Cruise Control Algorithm

Heavy duty truck,as the main supporting equipment of our country’s logistics and transportation industry,is the barometer reflecting the development trend of the industry.Thanks to the gradual maturity of intelligent networking technology and continuous improvement of advanced driving assistance system,the degree of intelligence of duty truck is constantly improving,and some systems can assist drivers to control vehicles,thereby reducing the driver’s driving burden.Nevertheless,the energy crisis problems caused by the fuel consumption of duty truck is still not well controlled.The duty truck in our country engaged in the characteristics of large cargo capacity,long operating mileage and high fuel consumption.Our country’s dependence on crude oil and oil has both exceeded 70%,and transportation accounts for more than 1/3 of oil consumption.Road transportation faces severe energy-saving and emission-reduction situation.At present,the Predictive Cruise Control System（PCC）can use the road gradient to improve the fuel economy of the vehicle,but the system does not take into account the potential safety hazards of the system caused by external vehicles.In this paper,based on the well PCC system,a predictive and adaptive cruise control system（PACC）is proposed.Before fully intelligent driving,the predictive adaptive cruise control system is the solution to the problem.One of the important technical means for energy saving.The predictive adaptive cruise control system integrates the Advanced Driver Assistance Systems Interface Specifiction（ADASIS）,obtains the slope data of the road ahead through the T-Box,the driving information of the vehicle in front of the road is detected by the central camera and millimeter-wave radar of the Automatic Braking Assist System（Autonomous Emergency Braking,AEB）or Forward Collision Warning（FCW）and transmitted to the control system by the CAN bus,the system pre-plans the driving speed for the vehicle to improve the fuel economy of the vehicle.At the same time,it can avoid collision with the vehicle ahead to improve the driving safety and to a certain extent assist the driver to control the vehicle to alleviate the problem of fatigue driving,is the foundation of autonomous driving technology.Firstly,the problem of vehicle exhaust emission is expounded,the development status and advantages and disadvantages of the current commercial vehicle on-board system are analyzed,and the control algorithm of the cruise system is described;considering the authenticity of the simulation model,the FAW（Qingdao Company）The produced JH6 model builds a vehicle longitudinal dynamics model,draws a 3-dimensional map of vehicle fuel consumption based on rotational speed,throttle opening,and fuel consumption based on the relevant data of the vehicle,and establishes a polynomial fuel consumption model to analyze the factors affecting fuel consumption;The regulations are explained,and the simulated road in this paper is established,and polynomial fitting is used to process real road data;JH6 vehicle data is used to build a vehicle simulation model in Truck Sim.Then,analyze the geomorphological features of our country,determine the design goals of the PACC system;conduct a fusion analysis on the application of the algorithm on the road;design the upper-level structure of the control system,and conduct rationality research on the collision safety,braking safety distance and driving behavior of the preceding vehicle.Determine the relevant information of this article;adopt the nonlinear model predictive control algorithm with fast optimization performance,take the real-time speed of the vehicle as the state quantity,and the real-time acceleration of the vehicle as the control quantity to design the lower-level architecture of the control system,and the underlying architecture and algorithm principles and the relationship between the two are designed.Integrate for detailed derivation and analysis,write optimization algorithms based on Matlab language,build an overall simulation control system;formulate system evaluation standards and boundary conditions.Finally,Matlab and Truck Sim co-simulation are used to test the control system;in the case of no preceding vehicle,the output response of the system to different roads,in the case of various driving behaviors of the preceding vehicle Under different conditions,the response of the system to different roads;the cruise control system（Cruise Control Speed,CCS）is used as a comparison to analyze the advantages and disadvantages of the two systems under various simulation conditions.The simulation data shows that under different conditions.Under road conditions,compared with the cruise control system,this system can improve the fuel economy of the vehicle to different degrees,and change the driving behavior of the vehicle to improve the safety of the vehicle.Therefore,the predictive adaptive cruise control system based on nonlinear model predictive control algorithm designed in this paper achieves the expected set goals.