Abstract: Adaptive cruise control is an advanced driver assistance system, which assists driving on highway and urban roads within the entire speed range. The current method to test the results of vehicle adaptive cruise control algorithms are mainly upon the control curves. It is not intuitional. This paper develops a realistic driving simulation system based on the OGRE graphic engine. It could simulate any driving scenarios and visually test the control effect of the adaptive cruise control algorithms. Then, a PD optimal control algorithm is designed to realize the adaptive cruise control and verified on this 3D simulation platform. Experiments show that the 3D simulation of adaptive curise control can be used for any driving scenarios simulation. It can also effectively test the effect of vehicle adaptive cruise control algorithms.

Key words: intelligent transportation, 3D simulation of driving, OGRE, adaptive cruise control, optimal PD control

摘要： 汽车的自适应巡航控制是一种先进的辅助驾驶系统，可实现在高速公路和城市交通的全部速度范围内的辅助驾驶.但目前对车辆自适应巡航控制算法的控制效果的检验一般是通过仿真曲线给出，该方式不够直观.本文基于OGRE图像引擎,搭建了一个效果逼真的三维驾驶仿真平台，该平台能够模拟任意的开车情景，直观有效地检测车辆的自适应巡航控制算法.最后设计了一种最优pd控制算法，实现了车辆的自适应巡航控制，并在此三维仿真平台上得到验证.实验证明，该三维仿真平台能够模拟任意的开车情景，直观有效地检验车辆自适应巡航控制算法.

关键词: 智能交通, 三维驾驶仿真, OGRE, 自适应巡航控制 ；最优PD控制