自适应巡航控制系统主动换道功能研究

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中图分类号：U471.1 文献标志码：A DOI：10.20104/j.cnki.1674-6546.20240321

【Abstract】To addressthechallenge where the traditional Adaptive Cruise Control （ACC）are limited to maintain lowspeed following when encountering a low-speed vehiclein front，an ACC control systemwith lanechange functionis developed.Firstlythesystem subdivides thedriving modes into threetypes：cruisecontrol，cruise folowing andlane change cruise，andamulti-modeswitchingstrategybasedospeeddissatisfactionisformulatedtoflexiblyrespondtodiferentdriving scenariosanddriver’sneeds.Onthebasisoftheexistingadaptivecrusesystem，theactivelanechangefunctionisaded，and thequinticpolynomial isusedtoaccuratelyplanthelanechange trajectory，and thenthelanechangecruise trajectorytracking controller isconstructedbasedonthe Model PredictiveControl（MPC）algorithm.Finally，thecontrollerisverifiedbasedon MATLAB/Simulink/CarSim.Thesimulation resultsshow that the proposed strategy mets the requirements of active lane change in line with the driver's intention.

Key words： Adaptive Cruise Control （ACC）， Model Predictive Control （MPC）， Lane change， Quinticpolynomial

【引用格式】武子为，秦玉英.自适应巡航控制系统主动换道功能研究[J].汽车工程师，2025（8）：42-48. WU ZW，QINYY.Research on Active Lane Change Function Based on Adaptive Cruise Control System[J]. Automotive Engineer，2025（8）： 42-48.

1前言

在换道工况中，换道行为分为两种：强制换道，即因路面状况限制，驾驶员依道路交通法规指引，被迫改变行驶车道；自由换道，即当前车道前方存在低速行驶的车辆，驾驶员为获得更好的驾驶体验，选择换道以获得更高的车速。（剩余6767字）