自适应巡航控制系统的建模与联合仿真

摘要

采用Carsim与Simulink建立了一种车辆纵向动力学模型；然后基于最优控制和PID控制,设计了具有上、下两层结构的自适应巡航控制系统；最后对典型的自适应巡航工况进行联合仿真.结果表明,所设计的自适应巡航控制系统能使自车在保持一定车距的前提下较好地跟踪前车速度变化,并对前车的紧急制动有较好的响应.%A vehicle longitudinal dynamics model is created with Carsim and Simulink. Then an adaptive cruise control ( ACC) system with a structure of upper and bottom two layers is designed based on optimal control and PID control. Finally a co-simulation is conducted on typical ACC driving condition. The results show that the ACC system designed can well follow the speed change of leading vehicle while keeping a certain distance, and has a better response to the emergency braking of leading vehicle.