Research on ACC Control Strategy for Electric Vehicles Considering Cut-in Behavior

Background: Current adaptive cruise control systems primarily focus on the main target vehicle in the primary lane. However, there may be a delay in updating their targets after a side vehicle merges. This delay can impede the effective utilization of driving data from merging side vehicles, resulting in delayed responses and an increased risk of collision. Objective: Aiming at the problem of untimely control of traditional adaptive cruise control systems in cut-in scenarios, the authors establish a parallel model and collision analysis and design the control strategy of adaptive cruise under parallel behavior to improve the safety, following, and comfort of ACC. Methods: Initially, the vehicle model provided by CarSim is utilized and the power system parameters are adjusted to match the dynamic performance index. The permanent magnet synchronous motor model is then simplified to create an electric vehicle model. Following this, the cruise control system is designed using a PID control method, incorporating a hierarchical control structure. Simultaneously, a cut-in model characterized by sinusoidal acceleration is established, and a collision avoidance strategy based on cut-in behavior is formulated. Building on this foundation, an adaptive cruise control strategy is developed that takes cut-in behavior into account. Results: A test scenario utilizing the CarSim and Simulink co-simulation platforms was developed to simulate and validate the conditions for mode switching and lane cut-in. The ACC system, considering cut-in behavior recognition, demonstrated an ability to control the lead vehicle approximately 1 second earlier than traditional ACC systems. Notably, the distance error improved from - 0.1039 m to 0.040 m, the absolute value of velocity error decreased from 2.65 m/s to 2.02 m/s, the absolute value of main vehicle acceleration reduced by 34%, and the jerk response in acceleration diminished by approximately 14%. Conclusion: The proposed multi-objective cooperative adaptive cruise control system, which considers cut-in behavior, is effective.