在 Carsim 中分别搭建好前车与后车的车辆纵向动力学
模型。雷达系统将探测到的后车信息和前车信息传递给行车
间距控制系统，此控制系统根据安全距离模型计算出后车车
辆期望加速度，此期望加速度经过 PID 控制器调节后，输入
给车辆动力学系统，车辆动力学系统基于此加速度输出期望
的制动压力和节气门开度，并将此值传给制动及节气门控制
系统，此系统输出相应的制动力及节气门开度给后车动力学
系统，进行制动及加速控制。(The vehicle longitudinal dynamics of the front car and the rear car were built respectively in Carsim
Model.The radar system transmits the information of the vehicle behind and the vehicle in front to the vehicle
Spacing control system, this control system according to the safe distance model to calculate the rear car
Vehicle expected acceleration, the expected acceleration after PID controller adjustment, input
Given to the vehicle dynamics system, the vehicle dynamics system is based on this acceleration output expectation
Brake pressure and throttle opening, and pass this value to brake and throttle control
System, which outputs the corresponding braking force and throttle opening to the rear car dynamics
System for braking and acceleration control.)