Design and Application of Vehicle Adaptive Cruise Strategy Based on CarSim

This article studies vehicle adaptive cruise control (ACC) strategies based on a layered longitudinal control structure and its application on CarSim. In the acceleration control of the lower layer, the inverse longitudinal dynamics model is used to calculate the required engine torque or brake pressure according to the required longitudinal acceleration. At the same time, a certain buffer width is used in order to avoid frequent driving and braking switching. The upper-level control of ACC is mainly divided into two parts: distance tracking and switching of speed or distance control modes. An anti-saturation PID algorithm and a switching strategy are used for distance tracking. Finally, a co-simulation platform combined CarSim and Matlab/Simulink is implemented to verify the effectiveness of ACC control strategies. The simulations are carried out for several working conditions and the results show the effectiveness of the ACC strategies.