A synergetic strategy of automobile intelligent cruise system based on fuzzy control adopting hierarchical structure

Abstract

To improve automobile travel safety and relieve the intension of driving fatigue, a synergetic strategy on the throttle and brake combined control of automobile cruise system is proposed based on fuzzy control theory. A hierarchical control structure, including the upper fuzzy controller and the lower model match controller, is designed for integrated control function. The upper controller consists of the two input variables, that is, the deviation of the theoretical safe distance and the relative distance and the relative velocity between the host car and the preceding vehicle, and the single output variable, that is, the excepted acceleration of host car. The lower controller has achieved the fast compensation of excepted acceleration by adopting parallel feedforward and feedback compensator to input into the inverse dynamics model of automobile cruise system. Using MATLAB/Simulink, the control function on the proposed synergetic strategy is validated for different working cases. The results show that the synergetic strategy possesses an integrated capability involved automated stop & go control, and following the preceding car to prevent rear-end collision, and the constant velocity cruise whether the driving conditions of the city road or expressway.