摘 要：为解决客车自适应巡航控制系统在跟车过程中的不稳定性问题，本文提出一种基于速度补偿的双环积分分离PID控制算法。该算法在传统PID基础上，构建了“距离环-速度环”双闭环控制架构。其中，距离环根据车距偏差实时计算速度补偿值；速度环根据速度补偿值与车速偏差计算目标加速度，进而通过控制发动机扭矩或施加制动来实现车辆的平稳加速或减速。在不同车速和多场景下的实车测试结果表明，该算法能使车辆稳定地跟随前车运动，并保持安全车距，有效提升了车辆跟车过程的稳定性、安全性及舒适性。
关键词：客车；自适应巡航控制系统；双环积分分离PID控制
中图分类号：U463.6 文献标志码：A DOI：10.15917/j.cnki.1006-3331.2026.04.003
Research on an Adaptive Cruise Control Method for Buses
IU Kang ZHU Yanpeng, HUANG Yupeng, WANG Binghu, FAN Zhixian
Abstract: To solve the instability problem of the adaptive cruise control system during bus following,this paper proposes a speed-compensation-based dual-loop PID control algorithm with integral separation.This algorithm employs a“distance loop-velocity loop”dual closed-loop control architecture based on traditional PID.The distance loop calculates a speed compensation value in real time according to the distance deviation from the preceding vehicle.The speed loop calculates the target acceleration from the speed compensation value and speed deviation,and regulates engine torque or applies braking to ensure smooth acceleration or deceleration.The real vehicle test results across various speeds and scenarios show that the algorithm enables stable car-following with safe distance maintenance,significantly enhancing the stability,safety,and comfort of the following process.
Key words: bus; adaptive cruise control system; dual-loop PID control with integral separation
