Abstract
The paper presents a Curving Adaptive Cruise Control (ACC) system that is coordinated with Direct Yawmoment Control (DYC) system and gives consideration to both longitudinal car-following capability and lateral stability on curved road. A model including vehicle longitudinal and lateral dynamics is built first, which is discrete as the predictive model of the system controller. Then, a cost function is determined to reflect the contradictions between vehicle longitudinal and lateral dynamics. Meanwhile, some I/O constraints are formulated with driver permissible longitudinal car-following range and the road adhesion condition. After that, desired longitudinal acceleration and desired yaw moment are obtained by a linear matrix inequality based robust constrained state feedback method. Finally, Driver-in-the-loop tests on a driving simulator are conducted and the results show that the developed control system provides significant benefits in weakening the impact of DYC on ACC longitudinal car-following capability while also improving lateral stability.
Keywords: Adaptive Cruise Control, Direct Yaw-moment Control, longitudinal car-following capability, lateral stability, coordination