Adaptive cruise hierarchical control strategy based on MPC

In order to avoid the influence of adaptive cruise control system (ACC) on ride comfort and traffic flow, a hierarchical control strategy is proposed. The prediction model for the preceding vehicle and following vehicle is established. The safety and the ride comfort of the vehicle are taken as the optimisation targets. An upper controller based on model predictive control (MPC) algorithm is constructed to obtain the desired acceleration. In order to prevent switching error between drive torque and brake torque, and improve control accuracy, the lower controller is designed by integral separation PID control algorithm to track the preceding vehicle speed and the safe vehicle spacing distance. The simulation results show that the strategy can effectively control the vehicle speed under rapid acceleration/deceleration condition and steady-state cruising condition, and track the preceding vehicle speed near the safe spacing distance to ensure the safety, high efficiency and ride comfort.