Abstract：An adaptive cruise system was proposed based on hierarchical control strategy with an electric vehicle driven by hub motor as research object. Combined with the upper model predictive controller and the lower proportion integral differential (PID) controller, the driving torque output by the hub motor was precisely controlled under complex longitudinal following conditions. Based on the front vehicle acceleration, the variable headway of vehicle spacing strategy was proposed, and the model predictive control (MPC) algorithm was used to solve the expected acceleration of the upper controller. By PID algorithm, the vehicle front axle driving moment was solved to be entered into the lower wheel hub motor controller for realizing front and driving moment distribution, and finally realizing the vehicle longitudinal adaptive cruise. A co-simulation model was established to verify the proposed adaptive cruise hierarchical control strategy for scenarios of uniform forward speed, emergency braking and urban cycle conditions. The results show that the proposed adaptive cruise system control strategy has good car following effect under longitudinal complex driving conditions with small vehicle spacing error, and the acceleration change and motor drive torque change can be synchronized and responded well.
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2023, Vol. 44 
