Research on vehicle adaptive cruise control based on MPC and improved ADRC

doi:10.16731/j.cnki.1671-3133.2024.08.012

Abstract

Abstract: Aiming at the expected functional stability caused by internal and external disturbances during longitudinal movement of vehicles,an adaptive cruise control method is designed based on Model Predictive Control (MPC) and improved Active Disturbance Rejection Control (ADRC) strategies. Firstly,the vehicle kinematics model and the safe vehicle spacing model considering the speed of the vehicle ahead were established.Secondly,a model predictive controller and an improved active disturbance rejection controller are designed,and the MPC control algorithm is used to track the vehicle in front,and the tracked vehicle state is taken as the input of the improved active disturbance rejection controller to realize the stable cruise control of the vehicle in the disturbed environment. Finally,the simulation and comparison experiment are carried out. The results show that the adaptive cruise control strategy based on MPC and improved ADRC can effectively suppress the internal and external disturbances caused by distance error,and improve the tracking performance and system stability of the vehicle during the adaptive cruise process.

Key words: Model Predictive Control (MPC), adaptive cruise, Active Disturbance Rejection Control (ADRC), feedback compensation

CLC Number:

TP391
U461

HE Liyang, FENG Jianbo, WANG Yanxue, CHEN Yang. Research on vehicle adaptive cruise control based on MPC and improved ADRC[J]. Modern Manufacturing Engineering, 2024, 527(8): 95-101.

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