Vehicle Cooperative Adaptive Cruise Control Based On Model Predictive Control

The aim of adaptive cruise control is to solve the traffic congestion caused by insufficient capacity of the road or improper operation of the driver during the driving of the vehicle platoon.At the same time,it is considered to optimize the driving comfort of the driver and the the driving economy of the vehicle.This paper analyzes the problem of lateral lane change between vehicles,and designs a cooperative adaptive cruise controller to achieve smoothness between vehicle tracking and lane change.This dissertation focuses on three aspects: system structure,tracking control and lane change assistance.Firstly,This paper analyzes and describes the structure of the vehicle tracking system.Based on the analysis of the vehicle tracking system working model of vehiclevehicle coordination,different follow-up strategies are adopted for different follow-up scenes.A control strategy consisting of upper-level coordination system adapted to cruise control and lower-level vehicle control is proposed.For the realization of the driving and braking process in the vehicle control,taking the braking process as an example,the design of the vehicle acceleration tracking controller is realized,which can provide the underlying implementation foundation for the upper vehicle movement planning.Secondly,aiming at the problem of longitudinal tracking in the tracking process of the vehicle to vehicle,this paper plans and designs the vehicle maintenance algorithm based on the comfort and economy of the vehicle is planned.Comprehensive consideration of the characteristics of vehicle tracking and rear vehicle collision avoidance,select a spacing strategy to the vehicle tracking system;the design of the controller needs to consider the status of the control system,constraints and consideration of the vehicle comfort.Fuel economy are quantified so as to simplify the driver's control performance requirements during the platoon driving.The simulation is implemented under different operating conditions.Simulation results show that the vehicle longitudinal maintenance control method given in this paper can effectively achieve vehicle tracking.Finally,aiming at the situation that the lane change is necessary in the process of the vehicle platoon running,the horizontal control problem in the driving platoon is analyzed.The overall structure of the lane change assistance system is proposed;the lane change risk assessment during the vehicle lane change is proposed.The system is designed so that the vehicle can monitor the risk factors and potential risks of the vehicle in the process of lane change to a certain extent to ease the driver's driving pressure;the platoon vehicle and other important vehicles are modeled according to the vehicle lane change assist control.Based on the establishment of the model,the algorithm for the tracking process of the vehicle in front of the vehicle in the lane and in front of the target lane is algorithmically designed to optimize the smooth running of the vehicle during lane change on the basis of driving comfort and vehicle fuel economy.The effectiveness of the lane change assistant algorithm was verified by simulation experiments under different lane changing conditions.