The invention discloses a cruise control method and system based on internal model control, and the method comprises the steps: setting a target vehicle speed, enabling an internal model controller module to calculate a control vehicle speed, taking the control vehicle speed as a vehicle speed execution target, and carrying out the execution of the vehicle speed, thereby obtaining an actual vehicle speed; meanwhile, the control vehicle speed is used as input, and the estimated vehicle speed after the vehicle speed is executed is calculated through a vehicle speed control estimation module; summing the difference value between the estimated vehicle speed and the actual vehicle speed and the target vehicle speed to serve as input of the internal model controller to recalculate and control the vehicle speed, and circulating the process to achieve low-hysteresis following of the actual vehicle speed to the target vehicle speed. Through the internal model controller module, the difference value between the estimated vehicle speed and the actual vehicle speed and the target vehicle speed are summed, and the control vehicle speed considering the response hysteresis in the vehicle speed execution process is obtained through calculation; the estimated vehicle speed is obtained through calculation by taking the control vehicle speed as input through the vehicle speed control estimation module; and finally, executing the vehicle speed by taking the control vehicle speed as a vehicle speed execution target to obtain an actual vehicle speed, and realizing low-hysteresis following control on the target vehicle speed.

本发明公开一种基于内模控制的定速巡航控制方法和系统，设定目标车速后，内模控制器模块计算得到控制车速，以控制车速为车速执行目标进行车速的执行，得到实际车速；同时，以控制车速为输入经车速控制估算模块，计算得到车速执行后的预估车速；以预估车速和实际车速的差值与目标车速求和，作为内模控制器的输入重新计算控制车速，循环上述过程实现实际车速对目标车速的低迟滞性跟随。本发明通过内模控制器模块，将预估车速和实际车速的差值与目标车速的求和，计算得到考虑了车速执行过程响应迟滞性的控制车速；预估车速为通过车速控制估算模块以控制车速为输入计算得到；最后，以控制车速作为车速执行目标进行车速的执行，得到实际车速，实现对目标车速的低迟滞性跟随控制。