Tracking control of lateral and longitudinal for adaptive cruise vehicles on curved roads
To address the problem of vehicle tracking control in curve conditions,this paper proposes an adaptive cruise control (ACC ) system for curve conditions. First,according to the complex road conditions,ACC system is divided into three modes:cruise,follow and collision avoidance.Then,a fixed-speed cruise mode based on PID and a longitudinal speed tracking controller based on model prediction algorithm (MPC)are designed,and a lateral path controller considering the longitudinal speed is designed.Meanwhile,the longitudinal and lateral safety indexes are introduced to realize the tracking control of the transverse and longitudinal motion of the vehicle.Finally,the simulation platform is built by Matlab/Simulink and Carsim,and four simulation conditions are designed to verify the effectiveness of the designed tracking controller.Our simulation results show the designed horizontal and vertical tracking controller tracks the desired trajectory and achieves good robustness.
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