为提升商用车巡航控制的燃油经济性，提出一种商用车坡道适应性的巡航控制方法。坡道适应性巡航控制采用分层控制结构，由上层控制系统和下层控制系统组成：上层控制系统根据车辆纵向动力学模型和瞬态修正的多项式燃油消耗模型，基于极小值原理对快速优化的非线性模型预测控制算法进行求解，以最优控制变量的求解方程，获得前方道路坡度纵向需求扭矩的最优控制序列；下层控制系统基于车辆逆纵向动力学模型输出期望油门开度，由油门控制器实时控制车辆。为了验证商用车坡道适应性巡航控制的有效性，基于Matlab/Simulink和TruckSim软件建立联合仿真平台，在虚拟道路工况和真实道路工况下进行仿真分析。结果表明，与定速巡航控制相比，所提出的商用车坡道适应性巡航控制的节能方法可有效降低燃油消耗量。

To improve the fuel economy of cruise control for commercial vehicle, a ramp-adaptive cruise control method for commercial vehicle was proposed. The rampadaptive cruise control adopted a hierarchical control structure, consisting of upper and lower control system. According to the vehicle longitudinal dynamic model and the transient modified polynomial fuel consumption model, the upper control system solved a fast optimized non-linear model predictive control algorithm based on the principle of minimal values and obtained the optimal control sequence for the longitudinal demand torque of front road slope by the solution equation of optimal control variable. The lower control system output the desired throttle opening based on the vehicle inverse longitudinal dynamic model and further controlled the vehicle by the throttle controller in real time. In order to verify the effectiveness of ramp-adaptive cruise control for commercial vehicle, a joint simulation platform based on Matlab/Simulink and TruckSim software was established and simulation analysis was carried out under virtual road conditions and real road conditions. The results show that the proposed energy-saving method of ramp-adaptive cruise control for commercial vehicle is effective in reducing fuel consumption compared with fixed-speed cruise control.