Research on Simulation Technology of Automotive CACC System Based on Hierarchical Control Strategy

This project employs a hierarchical control strategy to gather information about surrounding vehicles, aiming to alleviate traffic congestion and reduce accidents. An inverse longitudinal dynamics model was developed in CarSim as the lower-level control system, while a model predictive control (MPC) model was created in Simulink as the upper-level control. Joint simulations were conducted to analyze the dynamic responses of the vehicle in two scenarios. The results indicate that in cruise control mode, the vehicle can quickly achieve and maintain cruising speed, enhancing driving comfort. In the follow-up cruise mode, the rear vehicle can promptly adjust its distance from the front vehicle, thereby improving following efficiency.