Aiming at the problem that the adaptive cruise system of automobile is not adaptive when facing complex working conditions,an adaptive cruise hierarchical control strategy based on Takagi-Sugeno fuzzy model predictive control(T-S MPC)is proposed.Firstly,the upper controller divides the adaptive cruise system into fixed-speed cruise mode,following mode with multi-objective optimal control and emergency braking mode based on the safety distance model.The lower controller transforms the desired acceleration output from the upper controller into throttle opening or braking pressure based on the inverse vehicle dynamics model.Secondly,considering the influence of the weighting coefficients on the control accuracy,the control strategy is established based on the T-S fuzzy control based variable weight model predictive controller.Finally,Carsim Simulink joint simulation platform is built to verify the accuracy,adaptability and tracking response speed of the control strategy.The results show that the tracking response time of the T-S MPC control method is 1.54 s,which is faster than the tracking response of PID and traditional MPC control in the cruising condition.In the following and mixing conditions,the root mean square error of the T-S MPC control method is 0.307 3 and 2.775,which is lower than that of the PID,PID+LQR,and traditional MPC control,and it has good adaptability,which effectively improves the following performance and safety.This effectively improves the following performance and safety.
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