Research on the Longitudinal Tracking of Adaptive Cruise Control System for Vehicles Considering of Measurement Noise

Aiming at adaptive cruise control (ACC) system with noise,a feedback correction model predictive controller (MPC) was proposed based on adaptive compensation method,composed of a Kalman filter and a model predictive controller.Firstly,a longitudinal tracking vehicle dynamics model of ACC control system was established,making use of a Kalman filter to estimate state variables and eliminate measurement noise.Then,the feedback correction mechanism was used to improve the prediction model for following vehicles to deal with the influence of uncertain parameters and external interference on model accuracy.And the softening vectors factors were used to deal with hard constraints,making the reasonable solutions be found in the optimization process.Finally,the controller proposed in this paper was transformed into a quadratic programming problem with constraints,taking the rolling optimization characteristics of the MPC to realize ACC.Experimental results show that the method proposed in this paper can effectively improve the safety and comfort of ACC system,providing a powerful anti-jamming ability.