关键词: 自适应巡航控制系统；最优控制；逆纵向车辆动力学模型；硬件在环仿真

Abstract: In order to improve the smoothness of mode switching of adaptive cruise control (ACC), and carry out hardware in the loop simulation (HILS) test for the real-time performance and stability of the algorithm, firstly, based on the optimal control and the inverse longitudinal vehicle dynamics model, an adaptive cruise control system composed of upper and lower controllers is designed, secondly, the hardware-in-the-loop simulation platform is built by using the SCALEXIO real-time simulation simulator from dSPACE Company, and finally the controller hardware-in-the-loop simulation test is carried out for the typical ACC working conditions. The test results show that the hardware-in-the-loop test platform works well and is suitable for the development and testing of ACC controllers, and can be further applied to other driving assistance systems.When the target vehicle information jumps and the speed of the target vehicle changes, the designed ACC controller can adapt to complex and changeable traffic scenarios, enabling the self-vehicle to stably follow the preceding vehicle while ensuring a safe following distance, and to smoothly switch between the distance control mode and the speed control mode when the set conditions are met, improving comfort for passengers in the vehicle.

Key words: Adaptive cruise control; Optimal control; Inverse longitudinal vehicle dynamics model; HILS