Abstract: Adopting the extend Kalman filter theory,a key target distinguish method is researched in order to avoid the goal confusion or missing of automobile cruise system in the curve road.An extend Kalman filter on yaw rate and a key target distinguish model are established for estimated the road curvature in real time and decided the critical target based on a nonlinear three degrees of freedom vehicle model.A simulation module was elaborated by using MATLAB/Simulink to validate the estimation of yaw rate and side slip angle based on the high-speed double lane input.With joint simulation of Carsim and MATLAB/Simulink,the simulation experiments are given to judge the key target for multiple targets in the curve road.The simulation results show that the proposed method can identify accurately the key target in the curve road and avoid rear-end collisions effectively.The research results can offer the theory reference for improving or perfecting the control performances of automobile cruise system.

Key words: Automobile Cruise Control(ACC) system, key target, extend Kalman filter, simulation