A Hierarchical Control Scheme for Adaptive Cruise Control System Based on Model Predictive Control

Abstract

An adaptive cruise control (ACC) system can improve safety and comfort during driving by taking over longitudinal control of the vehicle. It requires the coordination between the upper-layer controller and the lower-layer actuators. In this paper, a hierarchical anti-disturbance cruise control architecture based on electronic stability control (ESC) system is proposed. The upper-layer controller outputs the desired longitudinal acceleration or deceleration to the lower-layer actuators. In order to improve the accuracy of model prediction and achieve the coordinated control of multiple objectives, an upper-layer model prediction cruise controller is established based on feedback control and disturbance compensation. In addition, based on the hydraulic control unit (HCU) model and the vehicle longitudinal dynamics model, a lower-layer nonlinear model predictive deceleration controller is proposed in order to solve the problems of pressure fluctuations and the low accuracy of small decelerations when ESC is used as the actuator for the ACC system. Finally, the simulation and experimental tests were carried out. The results show that the proposed control architecture can improve the stability and comfort of the cruise control process. Moreover, compared with the traditional PID deceleration controller, it effectively improves the deceleration control accuracy.