Study on Longitudinal Vehicle Control Strategy Considering the Speed Reference Trajectory

To ensure the dynamic characteristics in the vehicle’s longitudinal control process, a longitudinal control strategy considering the speed reference trajectory is designed. Based on a hierarchical control method, the speed input in the upper-level control algorithm is designed using a reference trajectory, and the model predictive control (MPC) algorithm is applied to solve for the vehicle’s desired acceleration. In the lower-level control, a feedforward and feedback control structure is used to track the target acceleration, while an inverse longitudinal model is established to calculate the vehicle actuator outputs. Finally, simulation verification is carried out for host vehicle speed change and cut-in, cut-out situations ahead of the vehicle. The results indicate that the method achieves a smoother acceleration response, ensuring driving comfort.