A Cruise Control for Electric Vehicle Based on ADRC Controller Considering Driver's Behavior

A cruise control strategy of electric automobile was investigated by means of hierarchical control architecture in this paper, which can comprehensively address issues of tracking capability and driver longitudinal ride comfort. As an actor of driver, the upper controller gives optimal acceleration depending on the actual speed received and the desired value preset by driver. Lower controller compensates for nonlinear vehicle dynamics and enables tracking of desired acceleration given by upper controller. Active disturbance rejection controller(ADRC) was used to design the lower controller for its good performance to suppress the influence of parameter uncertainty and unknown disturbance on cruise control. Results indicate that the ADRC not only assures the stability of closed-loop systems while the load is changing but also can overcome the effect of road slope. On this basis, a saturated function was used to design upper controller in order to imitate the driver's behavior. Finally, corresponding simulations are performed considering a complex vehicle model which take aerodynamic drag forces, gravitational forces, rolling resistance and longitudinal tire forces into account in SIMULINK of MATLAB, and the performance of cruise control system under different conditions is also analyzed.