Abstract: In this paper, the problem of vehicle setback control with assistant driving adaptive cruising function is analyzed, and the driving comfort is optimized by adding negative torque request decision logic tou pper controller. In the course of car-following, the linear motion smoothness of the front and rear directions of the vehicle is improved when the vehicle is controlled lengthways to decelerate, so as to achieve a smooth and comfortable subjective driving feeling, it provides an effective solution for the following vehicle development, assistant driving and adaptive cruising function tuning. With the optimization and perfection of the function and performance of vehicle assistant driving, the problem of comfort perception of intelligent driving will be better, and the technology of intelligent driving will be developed rapidly.

Key words: Assisted driving; Adaptive cruise; Longitudinal control; Comfortable

摘要： 文章针对辅助驾驶自适应巡航功能纵向控制车辆减速时车辆行驶顿挫的问题进行分析， 通过上层控制器增加负扭矩请求判断逻辑来优化驾驶舒适性。车辆在跟车过程中纵向控制车 辆减速时前后方向的直线运动平顺性得到提升，从而达到主观驾驶感受平稳舒适，为后续车 型开发辅助驾驶自适应巡航功能调优提供有效的解决方案。随着车辆辅助驾驶功能以及性能 的优化和完善，智能驾驶的舒适性感知问题将会得到改善，智能驾驶技术将得到飞速发展。

关键词: 辅助驾驶；自适应巡航；纵向控制；舒适性