Adaptive cruise control method based on hierarchical control and multi-objective optimization

Abstract

Considering the perception of a driver, driving safety, and riding comfort, an adaptive cruise control (ACC) method based on a multi-objective (MO) real-time optimization control algorithm is proposed. The ACC system can be divided into various working modes according to the driver’s perception, as well as the relative state of the host vehicle and the preceding vehicle. To distinguish the driver’s intention in the rapid acceleration, strong deceleration, steady, and larger clearance modes, a fuzzy tool is proposed to solve the problem. To maintain the inter-clearance, velocity, and jerking action in a reasonable region, an MO control algorithm based on model predictive control was used to obtain the optimal control vectors. Moreover, the control vector increment is restricted to suppressing the fluctuation caused by switching among various modes. Simulations were conducted for various scenarios to verify the effectiveness of the ACC method. The simulation results indicated that the driver’s comfort and fuel economy improved by 35.3% and 16.6%, respectively, compared with the linear quadratic algorithm in a complicated driving environment. Various simulation results demonstrated that the MO-ACC controller can reduce fuel consumption while barely sacrificing riding comfort or tracking performance, as compared to the linear quadratic controller.