Multiple-Objective Adaptive Cruise Control System Integrated With DYC

Abstract

Adaptive cruise control (ACC) is one of key technologies of advanced driver assistance systems. Challenges still need to be solved to improve the performance of ACC, such as ensuring vehicle dynamic stability during car following processes on curved roads, and driving comfort. Therefore, a multiple-objective ACC (MOACC) integrated with direct yaw moment control (DYC) is proposed to ensure vehicle dynamic stability and improve driving comfort on the premise of car following performance, and its hierarchical structure consists of an upper layer and a lower layer. First, the upper layer is designed based on model predictive control (MPC). It coordinates ACC and DYC utilizing vehicle dynamics states, and tire forces of four wheels are calculated by the MPC upper layer. Then, the lower controller implements desired tire forces by controlling the throttle and brake pressure. A slip ratio controller is used in the brake pressure calculation module, and the electronic throttle opening calculation module is based on the look-up table method. Finally, the proposed MOACC is tested by a platform simulation. Results illustrate that the proposed controller performs better than the traditional ACC.