Affiliation:
1. College of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, China
2. College of Automobile and Traffic Engineering, Jiangsu University of Technology, Changzhou 213001, China
Abstract
To improve the anti-interference and robustness of the adaptive cruise control system in car-following mode, this paper designs a robust controller for the automobile adaptive cruise control system which contains two layers, the upper and lower structures, based on the μ control theory. On the one hand, the upper controller calculates the theoretical safety distance between two automobiles based on the current working conditions, and it calculates the expected acceleration of the vehicle through an optimal control method based on the safety distance and two vehicle speeds. On the other hand, this paper constructs the lower μ integrated controller of an automobile longitudinal dynamics system based on the performance requirements of an adaptive cruise control system and solves it in Matlab. Then, through calculation and simulation, it demonstrates that the designed dual-layer LQR-μ controller has good performance robustness and robust stability, which can significantly improve the anti-interference ability and driving safety performance of the vehicle during the following cruise process.
Funder
National Natural Science Foundation of China
The Natural Science Foundation of the Jiangsu Higher Education of China
Changzhou International Science and Technology Cooperation Fund
APC
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