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

摘要： 为提高自适应巡航控制系统模式切换平稳性，并对算法的实时性和稳定性进行硬件在 环仿真测试。首先基于最优控制和逆纵向车辆动力学模型设计了由上、下位控制器组成的自 适应巡航控制系统，其次采用 dSPACE 公司 SCALEXIO 实时仿真模拟器搭建硬件在环仿真平 台，最后对典型自适应巡航控制工况进行控制器硬件在环仿真测试。测试结果表明，硬件在 环测试平台运行良好，适合自适应巡航控制器的开发和测试，并可以进一步地应用于其他驾 驶辅助系统；当目标车辆信息跳变、目标车辆行驶速度变化时，设计的自适应巡航控制器可 以适应复杂多变的交通场景，实现自车在保证安全跟车距离的同时稳定跟随前车，并在满足 设定条件时在距离控制模式和速度控制模式之间平稳切换，提升车内乘员的乘坐舒适性。

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