CN104925057A - Automotive self-adaptive cruising system with multi-mode switching system and control method thereof - Google Patents

Automotive self-adaptive cruising system with multi-mode switching system and control method thereof Download PDF

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CN104925057A
CN104925057A CN201510364817.1A CN201510364817A CN104925057A CN 104925057 A CN104925057 A CN 104925057A CN 201510364817 A CN201510364817 A CN 201510364817A CN 104925057 A CN104925057 A CN 104925057A
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mode
pattern
car
acceleration
under
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裴晓飞
过学迅
张成才
谭智慧
陈可际
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses an automotive self-adaptive cruising system with a multi-mode switching system and a control method thereof. The system is divided into three layers of control structures including a mode switching layer, an upper-layer controller and a low-layer controller; a set of automobile traveling mode comprehensively arbitrating and switching mechanism is designed in the mode switching layer and is used for picking out the ideal working mode which is most suitable for the current traveling working condition from ten control modes. The ten control modes include the constant-speed cruising mode, the steady-state automobile following mode, the front automobile approaching mode, the urgent acceleration mode, the forcible deceleration mode, the curve mode, the lane changing assisting mode, the collision avoidance mode, the doubling mode and the switching-out mode. The upper-layer controller is responsible for specifically achieving the corresponding control mode and conducting continuous handling before an expected accelerated speed is output so as to avoid sudden change of the accelerated speed; the lower-layer controller is responsible for tracking the expected accelerated speed by controlling an execution mechanism of the automobile. According to the automotive self-adaptive cruising system with the multi-mode switching system and the control method thereof, the multi-mode switching system is adopted, in this way, the automotive self-adaptive cruising system can be better adapted to a complicated traveling environment, and the acceptability of drivers is improved.

Description

A kind of have automotive self-adaptive cruise system and the control method thereof that multi-mode switches system
Technical field
The present invention relates to automobile driver ancillary system, particularly one and there are ten kinds of master modes, automotive self-adaptive cruise system and the control method thereof of complicated driving model and typified driver's characteristic can be adapted to.
Background technology
As the Typical Representative in automobile driver ancillary system, self-adaption cruise system (ACC) relies on on-vehicle information sensor to obtain road ahead traffic information, and carry out the control of corresponding longitudinal direction of car automatic Pilot based on the motion conditions of road target, therefore can substitute throttle and the brake operation of chaufeur.Up to now, ACC system have passed through three development phase: first stage, mainly for simple highway environment, only possesses basic maintenance safe distance between vehicles and cruise function.Subordinate phase, can expand to city low-speed mode by the operating range of ACC, has the function automatically walking to stop with car.Phase III, there is the enhancement mode ACC system simultaneously can carrying out multiple-objection optimization, energy compromise between security, economy and traveling comfort in performance, and started integrated on electronlmobil.
But existing ACC system is still confined to the longitudinal control field to automobile, when automobile be in bend pattern, change auxiliary mode, doubling pattern time, ACC function will lose efficacy, and this have impact on the acceptance of chaufeur to ACC technology greatly.Therefore, need ACC system can not only be applicable to stable state straight line driving model, transient mode such as exchange road, bend etc. also has certain comformability.
In order to improve the robustness of ACC system to complicated running environment, the method that many scholar's trial multi-modes switch is solved, and achieves preliminary effect.ACC, according to front truck state of kinematic motion, is defined as acceleration/at the uniform velocity/deceleration Three models, and has incorporated chaufeur reference model at algorithm by the people such as the CANALE of Plito Polytechnics of Italy.The Fancher of Univ Michigan-Ann Arbor USA applies relative spacing-relative speed of a motor vehicle relation and ACC mode is divided into three regions, thus determines which kind of control form automobile applies: speeds control/time controls apart from control/collision avoidance.The Zhang Dezhao of Tsing-Hua University expects accelerating curve based on zero, is divided into by ACC cruise, spacing to keep, close to front truck and four kinds of patterns such as to overtake other vehicles.Volvo AB of Sweden defines the five functions of ACC, is close to front truck, collision avoidance of knocking into the back respectively, accelerates to follow, slow down and follow and doubling.The people such as the K.Yi of South Korea Seoul national university propose a kind of ACC system of changing support function that has, and comprise following master mode: stable state is with car, turning avoidance, turning avoidance+slight braking, emergency braking.Four kinds of master modes can be changed mutually according to the workshop movement relation of reality.
Continue this thinking, be necessary to switch overall framework based on multi-mode, further segmentation is taken to master mode, propose a kind of ACC multi-mode control method of environmental pattern better adaptability, while effectively alleviating chaufeur working strength, performance has more comprehensively equally, more intelligent, more coordinate, more practical feature.
Summary of the invention
The technical problem to be solved in the present invention is, for prior art above shortcomings, there is provided a kind of and there is the automotive self-adaptive cruise system that multi-mode switches system, improve the comformability of ACC system under actual complex shape travels part, particularly expand towards automobile cross motion and transient mode aspect and break through.And under multi-mode layered framework, how to set up corresponding optimized Control Mode and handover mechanism is the key solving ACC system applicability problem under complicated road environment.
The present invention for solving the problems of the technologies described above adopted technical scheme is:
A kind of have the automotive self-adaptive cruise system that multi-mode switches system, comprise pattern switchable layer, top level control device, lower floor's controller three layers controls framework, described pattern switchable layer is used for combined environment vehicle, road information and driving intention, the master mode that coupling is expected, realize the cooperation control between different ACC master mode, described top level control device is used for the optimal control policy under this kind of master mode of implementation pattern switchable layer selection, described lower floor controller is used for the expectation acceleration/accel following the tracks of the output of top level control device by controlling automotive engine throttle and active brake-pressure.
Present invention also offers a kind of control method of above-mentioned automotive self-adaptive cruise system, comprise the steps:
1) first, establish car travel mode at pattern switchable layer to divide and pattern handover mechanism, according to the impact whether being subject to Driver Steering Attention, whether be subject to the impact of road shape, whether be subject to the impact of front truck motion and what be subject to is the impact of transverse direction/longitudinal movement, current running car pattern is divided, realize the switching of ten kinds of different ACC master modes, ten kinds of ACC master modes are respectively: cruise pattern, stable state Car following model, close to front truck pattern, anxious aero mode, strong deceleration mode, bend pattern, change auxiliary mode, collision avoidance pattern, doubling pattern, cut out pattern, wherein, first two is equilibrium mode, latter eight kinds is transient mode,
2) then, in top level control device, the optimal control policy under this kind of master mode that implementation pattern switchable layer is selected;
3) last, in lower floor's controller, the expectation acceleration magnitude realizing top level control device by regulating engine air throttle and initiatively brake-pressure and export.
By such scheme, carry out in the process switched two kinds of master modes, in order to ensure the continuity that vehicle acceleration exports, before acceleration/accel is expected in output, taking weighted mean to carry out continuity process to expectation acceleration/accel, being specially:
a w_des＝w 1·a w_last+w 2·a w_next
In formula, a w_lastwith a w_nextfor the expectation acceleration/accel that existing master mode and the master mode that is about to enter calculate respectively, a w_desfor the output of top level control device in two kinds of master mode transitional regions, w 1with w 2for weight coefficient, and w 1+ w 2=1.
By such scheme, described cruise pattern is the closed loop control based on the speed of a motor vehicle, by inquiry acclerating section valve question blank, at the uniform velocity throttle gate question blank two throttle opening tables, be aided with incremental timestamp and correct, actual vehicle speed is remained near the setting speed of a motor vehicle ± 1km/h.
By such scheme, the computing formula of the expectation acceleration/accel under described stable state follow the mode is:
-0.3≤a d(t)≤0.3m/s 2
In formula, R dt () is for expecting spacing, relevant with the desired time headway size that chaufeur sets; R (t) is relative spacing; k f() is acceleration gain coefficient; λ ffor the weight ratio of distance error and speed course latitude error; v pfor front vehicle speed; V is from the car speed of a motor vehicle.
By such scheme, the described computing formula close to the expectation acceleration/accel under front truck pattern is:
a d = k a · v r 2 2 · ( R - R d )
a d≥-2m/s 2
In formula, k afor deceleration/decel gain factor; v rfor from the relative speed of a motor vehicle (other parameter meanings the same) of car with front truck.
By such scheme, the computing formula of the expectation acceleration/accel under described anxious aero mode is:
a d(t)＝k g(v(t))·(v p(t)-v(t))
a d(t)≤1.5m/s 2
In formula, k g() is the acceleration gain coefficient under this pattern;
Similar, the computing formula of the expectation acceleration/accel under described strong deceleration mode is:
a d = k s · v r 2 2 · ( R - R m i n )
a d≥-4m/s 2
In formula, k sfor deceleration/decel gain factor, reflect with the relation between car hazard level and deceleration intensity; R minfor the minimum collision avoidance distance under collision avoidance pattern and strong deceleration mode, the computing formula of minimum collision avoidance distance is:
R min = ( v ( t ) - v p ( t ) ) · t r + v 2 ( t ) - v p 2 ( t ) 2 a m a x
In formula, t rfor the chaufeur collision avoidance reaction time; a maxfor the maximum braking deceleration that can provide under current road attachment condition;
Expect under described collision avoidance pattern that the computing formula of longitudinal acceleration is:
a d＝a max
Once spacing is less than minimum collision avoidance distance relatively, can enter collision avoidance pattern immediately, automobile is with maximum deceleration a maxcarry out emergency braking until stop and stop (ABS gets involved and prevents wheel lockup under necessary condition) simultaneously.
By such scheme, under described bend pattern, expect that the computing formula of longitudinal acceleration is:
a d = - K x y 1 + T x y s a · y
In formula, a dfor automobile side angle acceleration/accel, K xy, T xybe respectively longitudinal and lateral coupling coefficient and delay time.
By such scheme, described change under auxiliary mode that the location gap in predicted time should meet following relational expression from car and target track fore-aft vehicle:
(x i(t)-x 0(t)) 2+(y i(t)-y 0(t)) 2≥R min
In formula, (x 0, y 0) and (x i, y i) be the absolute coordinates position of predicting the moment from car and target vehicle under geodetic coordinate system respectively.
By such scheme, described doubling pattern predicts that its doubling is intended to according to other track vehicle relative to from the cross travel of car track line of centers and cross velocity, and carry out in time switching with car target; Predict that it rolls the possibility from car track away from according to from car track front truck relative to from the cross travel of car track line of centers and cross velocity under the described pattern that cuts out, and carry out in time switching with car target.
The present invention compared with prior art has following major advantage:
1, on the basis of original automobile multi-mode self-adaptive cruise system, for the function limitation under transient mode, on original top level control device, turn increase pattern switchable layer, combined environment vehicle, road information and driving intention, realize the cooperation control between ten kinds of master modes, determined ten kinds of master modes and handover mechanism thereof, more realistic ACC driving mode, improves the travel safety of automobile in automatic Pilot, travelling comfort and chaufeur acceptable;
2, multi-mode switching controls system is relied on, emphasis solves self-adaption cruise system for problems such as poor for applicability under complex environment and the acceptable deficiencies of chaufeur, especially improve change, chaufeur, to the acceptance of system, makes system more adapt to complicated environment under the transient mode such as bend.
Accompanying drawing explanation
Fig. 1 is the control structure schematic diagram of automobile multi-mode self-adaptive cruise system of the present invention.
Fig. 2 is the mode division schematic diagram of automobile multi-mode self-adaptive cruise system of the present invention.
Fig. 3 is that the longitudinal driving pattern of automobile multi-mode self-adaptive cruise system of the present invention switches schematic diagram.
Fig. 4 is that the negotiation of bends pattern of automobile multi-mode self-adaptive cruise system of the present invention switches schematic diagram.
Fig. 5 is that the driving mode that changes of automobile multi-mode self-adaptive cruise system of the present invention switches schematic diagram.
Fig. 6 is the control principle schematic diagram of the cruise pattern of automobile multi-mode self-adaptive cruise system of the present invention.
Detailed description of the invention
Below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation.
With reference to shown in Fig. 1, of the present invention have the automotive self-adaptive cruise system that multi-mode switches system, takes three layers of control structure, in pattern switchable layer, according to selecting corresponding desired control pattern in the driving mode that automobile is current; In top level control device, specifically realize the optimal control policy under this kind of pattern; In lower floor's controller, by jointly controlling of throttle gate/braking, follow the tracks of the acceleration/accel of expectation.
The comprehensive arbitration of ACC driving mode and handover mechanism are the core contents in pattern switchable layer, need to consider the factors such as environment vehicle, road information and driving intention.Fig. 2 gives the running car mode division method of complete set.Effective division of car travel mode is the condition precedent realizing ACC control mode switch, therefore, the identification that the present invention is intended in conjunction with pilot control and sensor data fusion technology, divide complicated driving mode, and set up the arbitration of a set of perfect pattern and handover mechanism.Wherein, according to whether be subject to Driver Steering Attention impact, whether be subject to road shape impact, whether be subject to front truck motion impact and what be subject to is the impact of transverse direction/longitudinal movement, current running car pattern is divided, corresponds respectively to defined ten kinds of master modes.Fig. 3 ~ Fig. 5 sets forth the coordination handover mechanism between different mode.Rational pattern switch logic is the control basis realizing multi-mode ACC.
Because mode handover procedure often causes the sudden change of vehicle acceleration, be unfavorable for travelling comfort.Therefore, need to utilize Weighted Average Algorithm to carry out continuity process to expectation acceleration/accel, be shown below:
a w_des＝w 1·a w_last+w 2·a w_next
In formula, a w_lastwith a w_nextfor the expectation acceleration/accel that existing master mode and the master mode that is about to enter calculate respectively, a w_desfor the output of top level control device in two kinds of master mode transitional regions, w 1with w 2for weight coefficient, and w 1+ w 2=1.
Automobile multi-mode self-adaptive cruise system provided by the invention defines altogether ten kinds of master modes, is described respectively below:
(1) cruise pattern
When there is not effective target in front in the detection range of car track, system enters cruise pattern, feed back by the desired speed and the wheel speed sensors that compare chaufeur setting the actual vehicle speed obtained, wish the speed of a motor vehicle remain on as far as possible set the speed of a motor vehicle neighbouring ± 1km/h in.The key of cruise pattern is according to the desired throttle question blank of two in Fig. 6 (acclerating section valve question blank, at the uniform velocity throttle gate question blank), throttle opening value required when determining vehicle acceleration fast or at the uniform velocity travel.Be different from other several master modes, cruise pattern is the closed loop control based on the speed of a motor vehicle, therefore need not design lower floor's controller and directly can obtain throttle opening, is aided with incremental timestamp simultaneously and carries out fine setting correction to it.
(2) stable state follow the mode
Stable state follow the mode is as a kind of ACC master mode the most conventional, there is the feature of little relative velocity, little acceleration/accel, now, very little with the relative speed of a motor vehicle of front truck from car, relative spacing is also near safe distance between vehicles, therefore adopt a kind of linear bassinet structure of following to determine to expect acceleration/accel, make the steady state error of spacing and the speed of a motor vehicle converge to 0, computing formula is simultaneously:
a d(t)＝k f(v(t))·[(v p(t)-v(t))+λ f·(R d(t)-R(t))]
Consider the fuel economy of traveling comfort and the vehicle longitudinally taken simultaneously, wish vehicle acceleration smooth change, saturated process is carried out to expectation acceleration/accel, is shown below:
-0.3≤a d(t)≤0.3m/s 2
In formula, R dt () is for expecting spacing, relevant with the desired time headway size that chaufeur sets; R (t) is relative spacing; k f() is acceleration gain coefficient; λ ffor the weight ratio of distance error and speed course latitude error; v pfor front vehicle speed; V is from the car speed of a motor vehicle.
(3) close to front truck pattern
Close to front truck pattern through being usually used in from car from the more remote pattern close to front slow-moving vehicle, now, the relative speed of a motor vehicle v that two cars are initial rabsolute value comparatively large, initial distance is much larger than safe distance between vehicles simultaneously.In order to final smooth transition is to stable state follow the mode, striked expectation acceleration/accel needs the even retardation characteristic meeting chaufeur, and computing formula is as follows:
a d = k a · v r 2 2 · ( R - R d ) , a d ≥ - 2 m / s 2
In formula, k afor deceleration/decel gain factor; v rfor from the relative speed of a motor vehicle of car with front truck, other parameter meanings are the same.
(4) anxious aero mode
Under anxious aero mode, owing to not having the danger of rear-end impact, chaufeur often can tolerate larger tracking error, relax the requirement to tracking performance; Consider that the anxious accelerator of vehicle can worsen fuel economy simultaneously, and reduce travelling comfort, need saturated process to expectation acceleration/accel, computing formula is as follows:
a d(t)＝k g(v(t))·(v p(t)-v(t)) a d(t)≤1.5m/s 2
In formula, k g() is the acceleration gain coefficient under this pattern, and other parameter meanings are the same.
(5) strong deceleration mode
Under strong deceleration mode, consider emphatically the safety how realizing driving a vehicle, now the relative speed of a motor vehicle of two cars is negative, and vehicle headway is also less than safe distance between vehicles, and determined expectation acceleration/accel should meet the pressure dynamic characteristic of chaufeur, and computing formula is as follows:
a d = k s · v r 2 2 · ( R - R min ) , a d ≥ - 4 m / s 2
In formula, k sfor deceleration/decel gain factor, reflect with the relation between car hazard level and deceleration intensity; R minfor the minimum collision avoidance distance under collision avoidance pattern and strong deceleration mode.
(6) collision avoidance pattern
Collision avoidance pattern has the highest control priority, and collision avoidance target, except front truck, also comprises pedestrian, guardrail, trees etc. various static or close to static obstacle; Once spacing is less than minimum collision avoidance distance, vehicle can with maximum deceleration emergency braking, till stopping completely; Be by complete collision avoidance due to collision avoidance pattern or alleviate for the purpose of collision injury, can not to acceleration/accel in addition any restriction, computing formula is as follows:
R m i n = ( v ( t ) - v p ( t ) ) · t r + v 2 ( t ) - v p 2 ( t ) 2 a m a x
In formula, t rfor the chaufeur collision avoidance reaction time; a maxfor the maximum braking deceleration that can provide under current road attachment condition, all the other parameter meanings are the same.
(7) bend pattern
Under bend pattern, there is certain coupled relation between the longitudinal acceleration of vehicle and its lateral acceleration, adopt first-order lag model to carry out mathematical description, gain factor and delay time are respectively K xyand T xy, computing formula is as follows:
a d = - K x y 1 + T x y s a · y
In formula, a yfor automobile side angle acceleration/accel, K xy, T xybe respectively longitudinal and lateral coupling coefficient and delay time.
Because the lateral acceleration in above formula can be subject to the impact of road shape, therefore the Changing Pattern of longitudinal acceleration depends in fact the rate of change of bend curvature.
(8) auxiliary mode is changed
Change auxiliary mode and usually occur in the front truck speed of a motor vehicle comparatively slowly, chaufeur wishes to trade space for time, and changes the situation that rear vehicle can obtain larger speed advantage.Changing under auxiliary mode, needing to consider whether can collide with the fore-aft vehicle in target track.Therefore, by prediction from car and target vehicle the geodetic coordinate in predicted time, judge that this changes and operate whether safe and feasible.The track spacing changed between two cars should meet following relational expression:
(x i(t)-x 0(t)) 2+(y i(t)-y 0(t)) 2≥R min
In formula, (x 0, y 0) and (x i, y i) be the absolute coordinates position of predicting the moment from car and target vehicle under geodetic coordinate system respectively, all the other parameter meanings are the same.
(9) doubling pattern
Under doubling pattern, need to consider that the possibility of doubling implemented by other track vehicle, and switch timely with car target, now, need radar to follow the tracks of the target front truck from car track and other track simultaneously, and according to the size that doubling is intended to, in two cars, select appropriate major heading.Utilizing other track doubling vehicle relative to from the cross travel of car track line of centers and the weight relationship of cross velocity, establishing for predicting the question blank that doubling is intended to.The doubling probability obtained if tabled look-up is less than minimum doubling thresholding, to select in car track vehicle as major heading; If doubling probability is greater than maximum doubling thresholding, select doubling vehicle as major heading; If probability is between two thresholdings, then want the state of kinematic motion of comprehensive two cars, using the result of weighting process as major heading.
(10) pattern is cut out
Similar with doubling pattern, the pattern that cuts out also is roll possibility from car track away from by target of prediction front truck, improves the real-time of target update.Utilizing the cross travel of target front truck relative to track line of centers and the weight relationship of cross velocity, establishing for predicting that front truck cuts out the rule list of intention.The probability that cuts out obtained if tabled look-up is less than certain thresholding, then still remain existing with car target; Otherwise abandon current tracking target, again in car track, identify new target front truck.
Obviously, above-described embodiment is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And these belong to spirit institute's apparent change of extending out of the present invention or change and are still among protection scope of the present invention.

Claims (10)

1. one kind has the automotive self-adaptive cruise system that multi-mode switches system, it is characterized in that, comprise pattern switchable layer, top level control device, lower floor's controller three layers controls framework, described pattern switchable layer is used for combined environment vehicle, road information and driving intention, the master mode that coupling is expected, realize the cooperation control between different ACC master mode, described top level control device is used for the optimal control policy under this kind of master mode of implementation pattern switchable layer selection, described lower floor controller is used for the expectation acceleration/accel following the tracks of the output of top level control device by controlling automotive engine throttle and active brake-pressure.
2. a control method for automotive self-adaptive cruise system according to claim 1, is characterized in that, comprise the steps:
1) first, establish car travel mode at pattern switchable layer to divide and pattern handover mechanism, according to the impact whether being subject to Driver Steering Attention, whether be subject to the impact of road shape, whether be subject to the impact of front truck motion and what be subject to is the impact of transverse direction/longitudinal movement, current running car pattern is divided, realize the switching of ten kinds of different ACC master modes, ten kinds of ACC master modes are respectively: cruise pattern, stable state Car following model, close to front truck pattern, anxious aero mode, strong deceleration mode, bend pattern, change auxiliary mode, collision avoidance pattern, doubling pattern, cut out pattern, wherein, first two is equilibrium mode, latter eight kinds is transient mode,
2) then, in top level control device, the optimal control policy under this kind of master mode that implementation pattern switchable layer is selected;
3) last, in lower floor's controller, the expectation acceleration magnitude realizing top level control device by regulating engine air throttle and initiatively brake-pressure and export.
3. the control method of automotive self-adaptive cruise system according to claim 2, it is characterized in that, carry out in the process switched two kinds of master modes, in order to ensure the continuity that vehicle acceleration exports, before acceleration/accel is expected in output, take weighted mean to carry out continuity process to expectation acceleration/accel, be specially:
a w_des＝w 1·a w_last+w 2·a w_next
In formula, a w_lastwith a w_nextfor the expectation acceleration/accel that existing master mode and the master mode that is about to enter calculate respectively, a w_desfor the output of top level control device in two kinds of master mode transitional regions, w 1with w 2for weight coefficient, and w 1+ w 2=1.
4. the control method of automotive self-adaptive cruise system according to claim 2, it is characterized in that, described cruise pattern is the closed loop control based on the speed of a motor vehicle, by inquiry acclerating section valve question blank, at the uniform velocity throttle gate question blank two throttle opening tables, be aided with incremental timestamp to correct, actual vehicle speed is remained near the setting speed of a motor vehicle ± 1km/h.
5. the control method of automotive self-adaptive cruise system according to claim 2, is characterized in that, the computing formula of the expectation acceleration/accel under described stable state follow the mode is:
-0.3≤a d(t)≤0.3m/s 2
In formula, R dt () is for expecting spacing, relevant with the desired time headway size that chaufeur sets; R (t) is relative spacing; k f() is acceleration gain coefficient; λ ffor the weight ratio of distance error and speed course latitude error; v pfor front vehicle speed; V is from the car speed of a motor vehicle.
6. the control method of automotive self-adaptive cruise system according to claim 5, is characterized in that, the described computing formula close to the expectation acceleration/accel under front truck pattern is:
a d = k a · v r 2 2 · ( R - R d )
a d≥-2m/s 2
In formula, k afor deceleration/decel gain factor; v rfor from the relative speed of a motor vehicle of car with front truck.
7. the control method of automotive self-adaptive cruise system according to claim 5, is characterized in that, the computing formula of the expectation acceleration/accel under described anxious aero mode is:
a d(t)＝k g(v(t))·(v p(t)-v(t))
a d(t)≤1.5m/s 2
In formula, k g() is the acceleration gain coefficient under this pattern;
Similar, the computing formula of the expectation acceleration/accel under described strong deceleration mode is:
a d = k s · v r 2 2 · ( R - R m i n )
a d≥-4m/s 2
In formula, k sfor deceleration/decel gain factor, reflect with the relation between car hazard level and deceleration intensity; R minfor the minimum collision avoidance distance under collision avoidance pattern and strong deceleration mode, the computing formula of minimum collision avoidance distance is:
R m i n = ( v ( t ) - v p ( t ) ) · t r + v 2 ( t ) - v p 2 ( t ) 2 a m a x
In formula, t rfor the chaufeur collision avoidance reaction time; a maxfor the maximum braking deceleration that can provide under current road attachment condition;
Expect under described collision avoidance pattern that the computing formula of longitudinal acceleration is:
a d＝a max
Once spacing is less than minimum collision avoidance distance relatively, can enter collision avoidance pattern immediately, automobile is with maximum deceleration a maxcarry out emergency braking until stop and stop.
8. the control method of automotive self-adaptive cruise system according to claim 2, is characterized in that, expects that the computing formula of longitudinal acceleration is under described bend pattern:
a d = - K x y 1 + T x y s a · y
In formula, a yfor automobile side angle acceleration/accel, K xy, T xybe respectively longitudinal and lateral coupling coefficient and delay time.
9. the control method of automotive self-adaptive cruise system according to claim 7, is characterized in that, described changes under auxiliary mode that the location gap in predicted time should meet following relational expression from car and target track fore-aft vehicle:
(x i(t)-x 0(t)) 2+(y i(t)-y 0(t)) 2≥R min
In formula, (x 0, y 0) and (x i, y i) be the absolute coordinates position of predicting the moment from car and target vehicle under geodetic coordinate system respectively.
10. the control method of automotive self-adaptive cruise system according to claim 2, it is characterized in that, predict that its doubling is intended to according to other track vehicle relative to from the cross travel of car track line of centers and cross velocity under described doubling pattern, and carry out in time switching with car target; Predict that it rolls the possibility from car track away from according to from car track front truck relative to from the cross travel of car track line of centers and cross velocity under the described pattern that cuts out, and carry out in time switching with car target.
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CN115214663B (en) * 2022-09-21 2022-12-09 毫末智行科技有限公司 Car following control method and device, terminal equipment and storage medium

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Application publication date: 20150923