An Adaptive Cruise Hybrid Control Method for Unmanned Driving

With the improvement of computer technology and the development of artificial intelligence technology, the intelligent automobile is constantly advancing. As an important part of Advanced Driving Assistance System (ADAS), Adaptive Cruise Control (ACC) technology has been a research hotspot. In order to make adaptive cruise system adapt to the auto intelligent technology development, considering the mutual interference between the trajectory tracking control and speed control in the unmanned vehicle mode, this paper adopts the direct structure to carry on the design for ACC, realizing the hybrid control with function of trajectory and speed control. Firstly, a trajectory tracking model is designed, and MPC control method is used to track the desired trajectory of the vehicle. Simulation results show that the lateral trajectory error of the vehicle is 0.025 m, which well meets the driving requirements. After using fuzzy PID algorithm for stability control, the simulation results show that the algorithm used in the direct type control system can effectively improve the safe distance for the stability of the vehicle ahead under the condition of constant speed of 60 km/h, the traditional PID actual distance fluctuated among 50 m, while algorithm in this paper controls the actual distance in 15 m. Based on Carsim/MATLAB software, simulation was carried out for constant speed condition, variable speed condition and multi-vehicle condition. The simulation results show that the integrated ACC control system proposed in this paper can meet the requirements of the above conditions.