Research On Vehicle Adaptive Cruise Control System Based On Active Disturbance Rejection Control Technology

With the increase of the vehicles in China a series of traffic accidents caused by fatigue driving,insufficient safety awareness,and distracted driving have occurred.In order to solve the current increasingly serious traffic problems and meet the needs of people for safe drive,advanced driving assistance systems are gradually being applied to vehicles,Adaptive Cruise Control(ACC)is one of the most important driving assistance system.In order to improve the safety and stability of the ACC system,this paper carries out research on the vehicle adaptive cruise control strategy.First of all,this paper analyzes the main causes of traffic accidents,summarizes the current research status of the ACC system in China and abroad,determines the research route clarifies the use of hierarchical control architecture to design the ACC system,analyzes the working mode of the ACC system.Then,this paper analyzes the currently widely used safety distance algorithms: Constant Headway Algorithm(CTH)and Variable Time Headway(VTH)algorithm,proposes an improved safety distance algorithm based on CTH algorithm and VTH algorithm,and then simulated and verified them.This paper design the vehicle ACC system.In the design of the upper controller,PID control is used in the cruise mode,and the Auto Disturbance Rejection Control(ADRC)technology is used in the following mode;The lower controller use the feedback control system of PI control.By the use of PI control,it realizes the tracking and feedback of the actual acceleration to the desired acceleration,and converts it into the throttle opening or brake pressure through the drive/brake logic,and then control the speed of the vehicle.At last,the control effect of the lower-level controller is verified by the sinusoidal acceleration signal.This paper overall overview the hardware-in-the-loop test platform,the selection of software and hardware,the configuration of vehicle model parameters,the construction of simulation test scenarios,hardware connection,real-time processing of simulation board information configuration,Car Maker and MATLAB/Simulink are completed.Co-simulation test environment construction,Ethernet communication configuration of Car Maker and ADAS cabinet,CAN communication configuration of ACC controller and ADAS cabinet,etc are complete.Then,the required hardware system and software system are combined to complete the construction of the HIL test platform.After that,this paper through the ACC HIL test platform designer five test conditions,and the ACC algorithm designed in this paper was simulated and verified.The simulation results show that under different working conditions,the ACC algorithm designed in this paper has a good tracking control effect in speed,vehicle distance and acceleration control,and it can effectively deal with various complex situations in the driving process of the vehicle,it also have the strong anti-interference ability.It is effectively improves the safety,stability and comfort of the vehicle ACC system.Finally,summarize the outlook.