Research on Adaptive Cruise Systems Based on Adjacent Vehicle Trajectory Prediction

Abstract

Vehicles in the adjacent lane making abrupt lane changes is a common and frequent action during traffic movement. Being aware of adjacent vehicles ahead of time, determining their cut-in intention, monitoring their cut-in trajectory in real time, and actively adjusting following speed are all critical for adaptive cruise systems for vehicles. This study proposes a flexible following-factor-calculation approach that considers the driver’s willingness to take risks for the purpose of identifying cut-in intent, predicting trajectory, and narrowing the window for following cruise speed adjustment to improve passenger ride comfort. To begin, a lane-change trajectory prediction algorithm based on driver adventitious factor correction is proposed in order to correctly predict the lane-change trajectory of adjacent vehicles in urban road traffic scenarios. Second, the flexible following factor and the flexible switching factor of the following target are constructed to overcome the influence of the uncertainty caused by internal and external disturbances on the vehicle following the motion process, and to reduce the impact of cut-in events on passenger comfort. An anti-disturbance rejection control and an adaptive cruise controller based on the vehicle’s longitudinal inverse dynamics model are proposed in order to compensate for and suppress the internal perturbations caused by the vehicle’s internal parameter changes and the random disturbances caused by external road environment changes. The results of simulation and real-world testing showed an average of 28% improvement in passenger comfort.