关键词: 车辆工程；自适应巡航系统；模型预测控制；变加速度约束；NGSIM；舒适性

Abstract: In conventional adaptive cruise control system based on model predictive control algorithm, the comfort constraint was in the form of fixed acceleration. The problem of range of acceleration extremes at different speeds was not considered in depth, which would lead to excessive changes in system acceleration and impact in the pursuit of safety and speed following, thus reduced the comfort of driving and riding. The NGSIM natural driving data set was used to obtain the speed-acceleration relationship of the vehicle, which was used as the constraint object of acceleration. The constant constraint of the conventional model predictive control was changed to the variable constraint following the change of speed, to improve the following comfort based on natural driving data. The rationality of the proposed method was verified by simulation test. The research results show that the proposed method can make the acceleration and impact fluctuation of ACC system smaller while ensuring safe following and speed following. Compared with the model predictive control with constant acceleration constraint, the maximum impact decreases by 14.96%, which effectively improves the comfort of ACC system.

Key words: traffic engineering; adaptive cruise system; model predictive control; variable acceleration constraint; NGSIM; comfort