Research on Dynamic Simulation of Vehicle ACC Based on Active Disturbance Rejection Control Technology

Abstract

To improve the robustness and safety of the vehicle’s adaptive cruise control system, this paper designs an active disturbance rejection controller (ACC_ADRC) with strong robustness. The upper controller is based on the active disturbance rejection control algorithm, obtains the expected acceleration of the vehicle according to the relative speed and relative distance of the preceding vehicle. The lower controller is based on PI control, according to the expected acceleration, it realizes the adaptive cruise control of the vehicle by controlling the throttle opening and the pressure of the master cylinder. Finally, based on the ADAS HIL simulation platform, the controller of this research and a mass production controller (ACC_MP) were simulated and verified. The simulation results show that compared with the ACC_MP controller, the ACC_ADRC controller has stronger robustness and reduces the overshoot of speed, acceleration and distance, and effectively improves the comfort and safety of the vehicle.