An Optimization Design of Adaptive Cruise Control System Based on MPC and ADRC

In this paper, a novel adaptive cruise control (ACC) algorithm based on model predictive (MPC) and active disturbance rejection (ADRC) is proposed. This paper uses an MPC for the upper controller of ACC system. Through comprehensive considerations, will output desired acceleration to lower controller. addition, increase accuracy in address fluctuations vehicle’s acceleration, aided by estimation Due uncertainties vehicle parameters road environment, it difficult establish accurate dynamic lower-level throttle brake actuators. Therefore, feed-forward (VDM) compensatory ADRC used enhance precision suppress influence internal or external disturbance. Finally, proposed optimal design system was validated tests. The results show that with APE can accurately tracking host less fluctuation than traditional Moreover, when mass slope changed, ACC–APE–ADRC still able quickly track acceleration.