Research on Adaptive Cruise Control Strategy Considering the Disturbance of Preceding Vehicle and Multi-Objective Optimization

Abstract

Adaptive Cruise Control (ACC) includes three modes: cruise control, car following control, and autonomous emergency braking. Among them, the car following control mode is mainly used to manage the speed and vehicle spacing approach the preceding vehicle within the range of smooth acceleration changes. In addition, although the motion information signal of the preceding vehicle can be collected by auxiliary equipment, it is still a random variable and normally regarded as a disturbance to affect the performance of vehicle controller. Therefore, this paper proposed an ACC strategy considering the disturbance of the preceding vehicle and multi-objective optimization. First, the switching strategy was designed according to the relationship between the collision time, time headway, and working characteristics of brake system; Then, we built a vehicle-following model considering the disturbance of the preceding vehicle, and designed a Model Predictive Controller to smoothly control the driving and braking of the host vehicle to satisfy the indicators of the comfort and safety; Finally, a deceleration controller including feedforward and feedback was proposed. The joint simulation experiment of MATLAB/Simulink and CarSim showed the designed control strategy render the ACC perform well in multi-mode and meet the requirements of comfort and safety.