CN106560367A - Vehicle adaptive cruise controller, method and system - Google Patents
Vehicle adaptive cruise controller, method and system Download PDFInfo
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- CN106560367A CN106560367A CN201510643940.7A CN201510643940A CN106560367A CN 106560367 A CN106560367 A CN 106560367A CN 201510643940 A CN201510643940 A CN 201510643940A CN 106560367 A CN106560367 A CN 106560367A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000001133 acceleration Effects 0.000 claims abstract description 200
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 28
- 206010039203 Road traffic accident Diseases 0.000 abstract description 5
- 101100008047 Caenorhabditis elegans cut-3 gene Proteins 0.000 description 17
- 230000008859 change Effects 0.000 description 7
- 238000012806 monitoring device Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- 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
- B60W40/04—Traffic conditions
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
-
- 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
- B60W40/10—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 vehicle motion
- B60W40/107—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The invention relates to a vehicle adaptive cruise controller, a method and a system; the method comprises the following steps: monitoring a wait-to-cut in vehicle on an adjacent lane to send a signal of cutting into the present lane; calculating a second acceleration speed of the self vehicle according to the motion information of the wait-to-cut in vehicle; calculating an updated acceleration speed of the self vehicle according to the present acceleration speed and the second acceleration speed; adjusting the self vehicle speed according to the calculated updated acceleration speed. The method allows the self vehicle to gradually adjust the speed in a process in which the wait-to-cut in vehicle cuts into the present lane, thus preventing self vehicle from suddenly changing speed, reducing traffic accidents caused by sudden changes of the speed, and removing driver discomfort.
Description
Technical field
The present invention relates to technical field of vehicle safety, more particularly to a kind of adaptive cruise control device,
Method and system.
Background technology
Adaptive learning algorithms (Adaptive Cruise Control, ACC) are a permission vehicle cruise controls
System processed is mainly used in lifting driving safety by regulating the speed to adapt to the automobile function of traffic,
The control technology of adaptive cruise control system is increasingly taken seriously.
In the prior art, adaptive cruise control system mainly by detection this car forward march whether
There is vehicle, when vehicle occurs in front, slowed down by active, to control the conjunction of this car and front vehicles
Reason spacing, when front is without vehicle, the speed traveling set according to driver.However, existing adaptive
Cruise control system is answered when there are other vehicles to be cut into the road ahead of this car, with certain limitation,
This is mainly shown as：During road, this car slows down suddenly, and surrounding normal driving vehicle is interfered
So as to easily cause traffic accident, secondly, this car slows down suddenly makes driver produce sense of discomfort.
The content of the invention
The technical problem that the embodiment of the present invention is solved is how to avoid having vehicle to cut in front of this car track
The unexpected deceleration of Shi Yinqi.
To solve the above problems, a kind of adaptive cruise control method is embodiments provided,
Methods described includes：
When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, according to institute
The movable information for stating vehicle to be cut calculates second acceleration of this car；
According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car；
According to the speed that acceleration adjusts this car that updates of this car；
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut
Spacing with this car.
Alternatively, it is described to monitor to need to be cut the signal that vehicle sends incision current lane on adjacent lane
Including：To be on adjacent lane or leave in vehicle of the adjacent lane not completely into current lane from this
Car is recently and nearly this car one is side steering indicating light installed opens and described in vehicle of the flashing times more than or equal to n time be judged as
Vehicle to be cut；Wherein, n is the natural number more than or equal to 3.
Alternatively, the self-adapting cruise control method also includes：The lane line of detection current lane, root
According to the lane line and the position relationship of vehicle, judge that the vehicle is in adjacent lane or current lane.
Alternatively, the movable information of vehicle to be cut described in the basis calculates second acceleration of this car,
Including：
Using formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate described car the second acceleration；
Wherein:af2For second acceleration of this car, K is known the adding by acquisition of tabling look-up of the speed according to this car
Speed gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes 11；Vp
For the speed of the vehicle to be cut；VCFor the speed of this car；RsFor the front car of this car on current lane
Spacing with this car；RdFor desired spacing.
Alternatively, the renewal according to the current acceleration and second acceleration calculation this car adds
Speed, including：
The renewal acceleration is calculated using formula a=w1 × af1+w2 × af2；Wherein, a adds for described renewal
Speed, w1 and w2 are weight coefficient, and w1+w2=1；Af1 is the current acceleration of this car,
Af2 is second acceleration of this car.
Alternatively, Ruo Benche is in follow the mode, and the current acceleration of described car is according to current lane
What the movable information of upper front side vehicle was calculated, including：
Using formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate under the follow the mode described
The current acceleration of car；Wherein:af1For the current acceleration of this car, K is the known speed according to this car
By the acceleration gain coefficient of acquisition of tabling look-up；λfFor the weight ratio of known range error and velocity error,
Representative value takes 11；Vp1For the speed of this front side vehicle on current lane；VCFor the speed of this car；Rs1
For the front vehicles and this car spacing；RdFor desired spacing.
Alternatively, Ruo Benche is in cruise mode, and the current acceleration of described car is set according to user
Speed and current vehicle speed difference by acquisition of tabling look-up.
The embodiment of the present invention additionally provides a kind of Vehicle Adaptive Cruising Control Systems, and the system includes：
Monitor, adaptive learning algorithms device and drive control device；The adaptive learning algorithms device coupling is described
Monitor and the drive control device；
The monitor, is suitable to monitor the signal that vehicle to be cut on adjacent lane sends incision current lane,
Obtain described shown when movable information, the cruise mode of vehicle is cut；
The adaptive learning algorithms device, is suitable to calculate this car according to the movable information of the vehicle to be cut
The second acceleration, added according to the renewal of the current acceleration of this car and second acceleration calculation this car
Speed；
The drive control device, is suitable to the speed that acceleration adjusts this car that updates according to this car；
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut
Spacing with this car.
Alternatively, the monitor includes camera and signal processor；The signal processor is suitable to root
According to the camera gather signal, will in adjacent lane on or leave adjacent lane not completely into ought
In the vehicle in front track from this car recently and nearly this car one is side steering indicating light installed opens and flashing times are more than or equal to n
Secondary vehicle is judged as the incision vehicle, and is suitable to obtain the movable information of vehicle to be cut；
Wherein, n is the natural number more than or equal to 3；The movable information of the vehicle to be cut includes waiting to cut
The spacing of car speed and vehicle to be cut and this car.
Alternatively, the signal processor is further adapted for determining current vehicle according to the signal of camera collection
The lane line in road, according to the lane line and the position relationship of vehicle, judges that the vehicle is in adjacent car
Road or current lane.
The embodiment of the present invention additionally provides a kind of adaptive cruise control device, and the vehicle self adaptation is patrolled
Route controller includes：Current acceleration acquiring unit, the second acceleration obtainment unit and renewal accelerometer
Calculate unit；
The current acceleration acquiring unit, is suitable to obtain the current acceleration of this car；
Second acceleration obtainment unit, is suitable to calculate this according to the movable information of the vehicle to be cut
Second acceleration of car；
The renewal acceleration calculation unit, is suitable to be accelerated according to the current acceleration and described second of this car
Degree calculates the renewal acceleration of this car.
Alternatively, second acceleration obtainment unit is in the movable information meter according to the vehicle to be cut
When calculating second acceleration of this car, formula a is adapted in use tof2=K × Vc×[(Vp2-Vc)–λf(Rs2–Rd)] meter
Calculate the second acceleration of described car；
Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes 11；
Vp2For the speed of the vehicle to be cut；VCFor the speed of this car；Rs2For the vehicle to be cut and this car
Spacing；RdFor desired spacing.
Alternatively, the renewal acceleration calculation unit is adapted in use to formula a=w1×af1+w2×af2Calculate institute
State renewal acceleration；Wherein, a be the renewal acceleration, w1And w2For weight coefficient, and w1+
w2=1；af1For the current acceleration of this car, af2For second acceleration of this car.
Alternatively, the current acceleration acquiring unit is suitable to when this car is in follow the mode, using public affairs
Formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate the current of described car under the follow the mode plus
Speed；
Wherein:Af1 is the current acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λ f are the weight ratio of known range error and velocity error, and representative value takes 11；
Vp1 is the speed of this front side vehicle on current lane；VC is the speed of this car；Rs1 is the front car
With this car spacing；Rd is desired spacing.
Alternatively, the current acceleration acquiring unit, be suitable to this car be in cruise mode when, according to
The speed of user's setting and the difference of current vehicle speed are by the acquisition current acceleration of tabling look-up.
Compared with prior art, technical scheme has the advantages that：
When sending the signal of incision current lane by needing to be cut vehicle on adjacent lane is monitored, root
Second acceleration of this car is calculated according to the movable information of the vehicle to be cut, preacceleration is worked as according to this car
The renewal acceleration with this car of second acceleration calculation is spent, so as to cut current vehicle in vehicle to be cut
The speed of this car is gradually adjusted during road, it is to avoid this car speed suddenly change, reduced because speed is unexpected
The traffic accident that change is caused, and the sense of discomfort of driver.
Description of the drawings
Fig. 1 is that the vehicle a kind of to be cut in the embodiment of the present invention prepares to cut the scene graph in this car track；
Fig. 2 is a kind of flow chart of the adaptive cruise control method in the embodiment of the present invention；
Fig. 3 is that a kind of calculating in the embodiment of the present invention updates two weight coefficients used by acceleration from treating
Incision vehicle is started a cut through to the situation over time of end；
Fig. 4 is a kind of structural representation of the Vehicle Adaptive Cruising Control Systems in the embodiment of the present invention；
Fig. 5 is a kind of structural representation of the adaptive cruise control device in the embodiment of the present invention.
Specific embodiment
As it was previously stated, in this front side in having other vehicles to be cut into the current lane of this car, it is existing
Adaptive cruise control system has certain limitation, and this is mainly shown as：During road, this car
Suddenly slow down, surrounding normal driving vehicle is interfered so as to easily cause traffic accident, secondly, this car
Suddenly slowing down makes driver produce sense of discomfort.
For the problems referred to above, a kind of adaptive cruise control method, institute are embodiments provided
When stating method and sending the signal of incision current lane by needing to be cut vehicle on adjacent lane is monitored,
Second acceleration of this car is calculated according to the movable information of the vehicle to be cut, current according to this car adds
The renewal acceleration of speed and second acceleration calculation this car, so as to current in vehicle to be cut incision
The process in track gradually adjusts the speed of this car, it is to avoid this car speed suddenly change, reduces because speed is unexpected
The traffic accident that change is caused, and the sense of discomfort that driver feels.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings
The specific embodiment of the present invention is described in detail.
Fig. 1 is that the vehicle a kind of to be cut in the embodiment of the present invention prepares to cut the scene graph in this car track.
Fig. 1 shows that two kinds the scene that vehicle is cut into this Che Chedaoben front sides occur.
The first scene is that vehicle is in cruise mode, sees in Fig. 1 and schemes a), and the cruise mode refers to this
Scene without vehicle within the front safe distance of this car 1 on the place track 10 of car 1.As schemed a) in Fig. 1
Under shown cruise mode, the adjacent the right track 11 in the track of this car 1 has a vehicle 3 to prepare incision this car 1
Relative to the front of this car 1 on track 10.
Second scene is that vehicle is in follow the mode, sees in Fig. 1 and schemes b), and the follow the mode refers to this
There is the scene of vehicle on the track 10 of car 1 within the front safe distance of this car 1.It is as b) shown in schemed in Fig. 1
Follow the mode under, the adjacent the right track 11 in 1 track of this car 10 have a vehicle 3 prepare incision this car 1
Relative to the front of this car 1 on track, and on the place track 10 of this car 1 this car 1 front safe distance
Within have a vehicle 4.
In being embodied as, can monitor whether there is vehicle to be cut by monitoring device 2, the monitoring
Equipment 2 can be installed on the top cover of vehicle body, and the investigative range of the monitoring device 2 can cover this
The vehicle in the front of car 1 and the left of this car 1 and the vehicle of right.
In being embodied as, the steering indicating light of vehicle on adjacent lane can be monitored by the monitoring device 2
Discriminate whether there is vehicle to be cut as signal designation.Specifically, can be by adjacent lane 11,12
It is upper or leave adjacent lane 11,12 but not completely in the vehicle of current lane 10 from this car 1 recently,
Nearly Current vehicle one side steering indicating light installed 5 open and flash the vehicle of n time be judged as described in vehicle to be cut；Its
In, n is the natural number more than or equal to 3.If n takes 3 in Fig. 1, vehicle 3 on adjacent lane 11,
From this car 1 recently, if the flashing times of steering indicating light 5 of nearly this side of car 1 of vehicle 3 are more than or equal to 3
Secondary, then the vehicle 3 is vehicle to be cut.
It is pointed out that the occurrence of the n can set as needed, the selection of n values will be caused
Judge vehicle and be consistent with actual conditions as far as possible as vehicle to be cut.
In being embodied as, the monitoring information of the monitoring device 2 can include the track in monitoring range
The movable information of line and monitored vehicle.According to the lane line and the position relationship of Adjacent vehicles, judge
The Adjacent vehicles are in adjacent lane or current lane, on here basis, can again carry out described treating
The judgement of incision vehicle.The movable information of the monitored vehicle can include the motion speed of monitored vehicle
The spacing of degree and monitored vehicle and this car 1, the movable information can be used as the ginseng of adjustment vehicle speed
Examine factor.
In prior art under cruise mode, this car 1 is just being travelled with setting speed in current lane or accelerated
To setting speed, when there is vehicle 3 to prepare to be cut into 1 place track 1 front of this car of this car, existing self adaptation
Cruise control system starts to regulate the speed, and travels still according to original speed or is still adding
Speed, only when the row of vehicle 3 of incision is prepared to 1 front of this car, existing adaptive cruise control system is
Start using vehicle 3 as with car target adjustment speed.
In prior art under follow the mode, this car 1 is with car target, sheet with the vehicle 4 in front of current lane
Spacing adjustment speed of the adaptive cruise control system of car 1 just according to the speed of the vehicle 4 and with this car 1
Degree, when there is vehicle 3 to prepare to be cut into 1 place track 1 front of this car of this car, existing adaptive learning algorithms
System does not start to regulate the speed, existing only when the row of vehicle 3 of incision is prepared to 1 front of this car
It is vehicle 3 that adaptive cruise control system just starts to change with car target, then the adjustment for carrying out speed.
In the embodiment of the present invention, no matter this car 1 is in cruise mode or follow the mode, can be by with neighbour
Closely track judges whether vehicle 3 is to treat apart from the steering indicating light 5 of the nearest vehicle 3 of this car 1 as signal foundation
Incision vehicle, when vehicle 3 is described when vehicle is cut, this car 1 just can start to adjust speed.Compare existing
There is technology, the embodiment of the present invention is due to determining when vehicle preparation incision current lane front is cut, just
Start to adjust this car speed, the process of this anticipation can just avoid adjusting this car speed in prior art delayed
And then the situation that needs slow down suddenly.
It is pointed out that the present invention can need to be cut using other signals as judgement adjacent lane
The indication signal of vehicle, is not limited to use the flashing times of the steering indicating light as judgment basis.
Below by the concrete steps of adaptive cruise control method in detail this car is described in detail carries out speed adjustment
Process.
Fig. 2 is a kind of flow chart of the adaptive cruise control method in the embodiment of the present invention.Below
Concrete steps in flow process are illustrated.
S201:When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, root
Second acceleration of this car is calculated according to the movable information of the vehicle to be cut.
In being embodied as, the movable information of the vehicle to be cut can include car speed to be cut,
And the spacing of vehicle to be cut and this car.
In being embodied as, the lane line of current lane can be detected, according to the lane line and vehicle
Position relationship, judge that vehicle is in adjacent lane or current lane.
In being embodied as, can receive vehicle to be cut on adjacent lane and send to cut by monitoring and work as
The signal in front track, judges to whether there is vehicle to be cut on adjacent lane.
In being embodied as, incision current lane can be sent using vehicle turn signal as the vehicle to be cut
Signal.Specifically, will be on adjacent lane or leave adjacent lane not completely into current lane
In vehicle from this car recently and nearly this car one is side steering indicating light installed opens and vehicle of the flashing times equal to n time is sentenced
Break as the vehicle to be cut；Wherein, n is the natural number more than or equal to 3.
It is pointed out that the occurrence of the n can set as needed, the selection of n values will ensure
Effectively judge the actual vehicle as current lane to be cut of vehicle.
In being embodied as, second acceleration refers to the current acceleration of the vehicle to be cut.Specifically
Ground, according to described when the movable information for cutting vehicle calculates second acceleration of this car, it is possible to use public
Formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculating the second acceleration of described car；
Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes 11；
Vp2For the speed of the vehicle to be cut；VCFor the speed of this car；Rs2For the vehicle to be cut and originally
The spacing of car；RdFor desired spacing.
The table used above by acquisition acceleration gain COEFFICIENT K of tabling look-up is those skilled in the art institute energy
Understand, the vehicle velocity V of vehicle to be cutp2With the front vehicles and the spacing of this car of this car on current lane
Rs2By acquired in monitoring device, the vehicle velocity V of this carCCan be obtained by the vehicle speed sensor of this car, the phase
The spacing R of prestigedCan be set by user.
S202:According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car.
In being embodied as, the current acceleration acquisition methods of described car are in follow the mode and cruise mode
In it is different.
When this car is in follow the mode, i.e., there is car within the front safe distance of this car 1 on this car track
Scene in, the current acceleration of this car can be according to the motion letter of this front side vehicle on current lane
Breath is calculated, and the movable information of the front vehicles includes the travel speed of the front vehicles and the front
The distance of vehicle and described car.Specifically, it is possible to use formula af1=K × Vc1×[(Vp1-Vc1)–λf1(Rs1
–Rd1)] calculate the current acceleration of described car under the follow the mode；Wherein:af1For the current of this car
Acceleration, K is the known acceleration gain coefficient for passing through acquisition of tabling look-up according to the speed of this car；λfFor
The range error known and the weight ratio of velocity error, representative value takes 11；Vp1For this front side on current lane
The speed of vehicle；VC1For the speed of this car；Rs1For this front side vehicle on the current lane and this car
Spacing；RdFor desired spacing.
The table used above by acquisition acceleration gain COEFFICIENT K of tabling look-up is those skilled in the art institute energy
Understand, the vehicle velocity V of vehicle to be cutp1With the front vehicles and the spacing of this car of this car on current lane
Rs1By acquired in monitoring device, the vehicle velocity V of this carCCan be obtained by the vehicle speed sensor of this car, the phase
The spacing R of prestigedCan be set by user.
When this car is in cruise mode, i.e., do not have within the front safe distance of this car 1 on the track of this car 1
There is the scene of vehicle, the current acceleration of described car is speed and current vehicle speed according to user's setting
Difference is tabled look-up by the difference and finds corresponding accekeration by acquisition of tabling look-up, described to table look-up
It is that those skilled in the art are to understand.
In being embodied as, according to the current acceleration of this car and second acceleration calculation this car more
New acceleration, the renewal acceleration is exactly this car in the scene for needing to be cut vehicle incision current lane
Adjust the basis of this vehicle speed.
Specifically, it is possible to use formula a=w1×af1+w2×af2Calculate the renewal acceleration；Wherein, a
For the renewal acceleration, w1And w2For weight coefficient, and w1+w2=1；af1For described car
Current acceleration, af2For the second acceleration of described car.
W in above-mentioned formula1For the weight coefficient of the current acceleration of described car, w2For described car
The weight coefficient of the second acceleration, and w1+w2=1, w1And w2Size variation it is as shown in Figure 3.
Fig. 3 shows that a kind of car calculates starting at any time from incision for two weight coefficients of renewal acceleration
Between situation of change.As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1：Time is 0 to sentence
Surely when incision vehicle 3 is not started a cut through, w2=0, w1=1, the renewal acceleration a of this car 1 is depended on
The current acceleration of this car 1；It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0,
w1=1, vehicle to be cut 3 completes cut process, this, 1 renewal acceleration a depends on vehicle to be cut 3
Acceleration after incision current lane, i.e. the value of the second acceleration, now, this car 1 becomes with car target
To have been cut into the vehicle to be cut 3 for completing；When the time in 0 between t, vehicle to be cut 3 is in
The process of incision current lane 10, in the process, w1It is being gradually reduced, w2Gradually increase, and it is full
Sufficient w1+w2=1.
It is the time of the incision of vehicle to be cut 3 current lane 10 within time t in being embodied as
Process, is also process that this car 1 is gradually adjusted using the speed that the technical program carries out this car.Need to refer to
Go out, the concrete value of time t can set as needed, if the setting of t values is too small to cause setting
The cut process of vehicle to be cut is too short, and does not have the transitional function that this car adjusts speed, if t values are excessive
Can cause set vehicle to be cut cut process it is long, this car response time is long, does not also just have
Effectively adjust the effect of speed.
Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t
Selection, according to speed size, choice of dynamical t, t values are suitably relaxed when speed is larger, it is whole to ensure
The comfortableness of car, on the contrary can set that t is less, and the representative value selection range of t is between 5s to 10s.
S203:According to the speed that acceleration adjusts this car that updates of this car.
In being embodied as, the renewal acceleration a of this car is obtained according to step S102, according to this car
Renewal acceleration a can adjust the speed of this car.
Specifically, when this car belongs to oil-engine driven vehicle, can be according to the renewal acceleration a
The speed of this car is adjusted by engine and brake, when this car belongs to electric type vehicle, can be with
The speed of this car is adjusted by motor drive controller according to the renewal acceleration a.
It is pointed out that the process of above-mentioned steps S201 to step S203, described to be cut determining
After entering vehicle, the circulation during the entire process of the vehicle incision current lane to be cut is performed, i.e. this car
Current acceleration a can constantly be calculatedf1, the second acceleration af2With update acceleration a, constantly
Ground dynamic adjusts the speed of this car.In the embodiment of the present invention, the vehicle incision current lane to be cut
Selection of the whole process setting depending on the t values.
The embodiment of the present invention judges that the vehicle to be cut is by the switching in signal that vehicle to be cut is sent
No to start a cut through current lane, at the same time, this car starts to obtain second acceleration and described current
Acceleration, according to second acceleration and the current acceleration renewal acceleration of this car is calculated,
The speed of this car is adjusted accordingly, anticipation and cut that above-mentioned car is cut to the vehicle to be cut
The gradually regulation of journey speed, compared to existing technology, it is to avoid this car slows down suddenly, reduces potential safety hazard
With the sense of discomfort of driver.
Fig. 3 is that a kind of calculating in the embodiment of the present invention updates two weight coefficients used by acceleration from treating
Incision vehicle is started a cut through to the situation over time of end.
As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1：Time is 0 to judge car to be cut
3 when not starting a cut through, w2=0, w1=1, the acceleration a that updates of this car 1 depends on working as this car 1
Preacceleration；It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0, w1=1, treat
Incision vehicle 3 completes cut process, and the renewal acceleration a of this car 1 cuts depending on vehicle to be cut 3
Acceleration after current lane, the i.e. value of the second acceleration, now, this car 1 is changed into car target
The vehicle to be cut 3 that Jing incisions are completed；When the time in 0 between t, vehicle to be cut 3 is in incision
The process of current lane 10, in the process, w1It is being gradually reduced, w2Gradually increase, and meet
w1+w2=1.
In being embodied as, the change of w can be set by the value of setting t, if t values set too small meeting
Cause the cut process of the vehicle to be cut of setting too short, and do not have the transitional function that this car adjusts speed,
If t values conference cause set vehicle to be cut cut process it is long, this car response time is long,
The effect for effectively adjusting speed is not just had.
Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t
Selection, according to speed size choice of dynamical t, t values are suitably relaxed when speed is larger, to ensure car load
Comfortableness, otherwise can set that t is less, the representative value selection range of t is between 5s to 10s.
Fig. 4 is a kind of structural representation of the Vehicle Adaptive Cruising Control Systems in the embodiment of the present invention.
As shown in figure 4, the Vehicle Adaptive Cruising Control Systems 40 can include：It is monitor 401, adaptive
Answer cruise control 402 and drive control device 403.
The monitor 401, is suitable to monitor the letter that vehicle to be cut on adjacent lane sends incision current lane
Number, obtain the movable information of the vehicle to be cut；
The adaptive learning algorithms device 402, is suitable to calculate this according to the movable information of the vehicle to be cut
Second acceleration of car, according to the renewal of the current acceleration of this car and second acceleration calculation this car
Acceleration；
The drive control device 403, is suitable to the speed that acceleration adjusts this car that updates according to this car；
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut
Spacing with this car.
In being embodied as, the monitor can include camera 4011 and signal processor 4012；Institute
The signal that signal processor 4012 is suitable to be gathered according to the camera 4011 is stated, will be in adjacent lane
It is upper or leave adjacent lane not completely in the vehicle of current lane from this car recently and close to this car side
Steering indicating light is opened and vehicle of the flashing times more than or equal to n time is judged as the incision vehicle, is suitable to obtain
The movable information of vehicle to be cut；Wherein, n is the natural number more than or equal to 3.
The signal processor 4012 is further adapted for being determined currently according to the signal of the collection of the camera 4011
The lane line in track, according to the lane line and the position relationship of vehicle, judges that the vehicle is in adjacent
Track or current lane.
Wait to cut according to the switching in signal that vehicle to be cut is sent judges by arranging the monitor
Whether vehicle starts a cut through current lane, described when incision vehicle starts a cut through current lane when judging,
Adaptive learning algorithms device obtains second acceleration and the current acceleration, adds according to described second
Speed and the current acceleration calculate the renewal acceleration of this car, and the speed of this car is adjusted accordingly,
Anticipation and the gradually regulation of cut process speed that above-mentioned car is cut to the vehicle to be cut, phase
Compare prior art, it is to avoid this car slows down suddenly, reduces the sense of discomfort of potential safety hazard and driver.
Fig. 5 is a kind of structural representation of the adaptive cruise control device in the embodiment of the present invention.Such as
Shown in Fig. 5, the adaptive cruise control device 50 can include：Current acceleration acquiring unit 501,
Second acceleration obtainment unit 502 and renewal acceleration calculation unit 503；
The current acceleration acquiring unit 501, is suitable to obtain the current acceleration of this car；
Second acceleration obtainment unit 502, is suitable to be calculated according to the movable information of the vehicle to be cut
Second acceleration of this car；
The renewal acceleration calculation unit 503, is suitable to be added according to the current acceleration and described second of this car
Speed calculates the renewal acceleration of this car.
In being embodied as, Ruo Benche is in follow the mode, and the current acceleration acquiring unit 501 is fitted
In using formula af1=K × Vc×[(Vp1-Vc)–λf(Rs1–Rd)] calculate under the follow the mode described
The current acceleration of car；
Wherein：af1For the current acceleration of this car, K is known to be obtained by tabling look-up according to the speed of this car
The acceleration gain coefficient for obtaining；λfFor the weight ratio of known range error and velocity error, representative value takes
11；Vp1For the speed of this front side vehicle on current lane；VCFor the speed of this car；Rs1Before described
Square vehicle and this car spacing；RdFor desired spacing.
Ruo Benche is in cruise mode, and the current acceleration acquiring unit 501 is suitable to be set according to user
Speed and current vehicle speed difference by the acquisition current acceleration of tabling look-up.
In being embodied as, second acceleration obtainment unit 502 is according to the vehicle to be cut
When movable information calculates second acceleration of this car, formula a is adapted in use tof2=K × Vc×[(Vp2-Vc)–λf(Rs2
–Rd)] calculate described car the second acceleration；
Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes 11；
Vp2For the speed of the vehicle to be cut；VCFor the speed of this car；Rs2For the vehicle to be cut and originally
The spacing of car；RdFor desired spacing.
In being embodied as implementing, the acceleration calculation unit 503 that updates is adding according to the current of this car
During the renewal acceleration of speed and second acceleration calculation this car, formula a=w is adapted in use to1×af1+w2
×af2Calculate the renewal acceleration；Wherein, a be the renewal acceleration, w1And w2For weight system
Number, and w1+w2=1；af1For the current acceleration of this car, af2For second acceleration of this car.
W in above-mentioned formula1For the weight coefficient of the current acceleration of described car, w2For described car
The weight coefficient of the second acceleration, and w1+w2=1, w1And w2Size variation it is as shown in Figure 3.
As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1：Time is 0 to judge vehicle to be cut 3
When not starting a cut through, w2=0, w1=1, the acceleration a that updates of this car 1 adds depending on the current of this car 1
Speed；It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0, w1=1, wait to cut
Vehicle 3 completes cut process, and the renewal acceleration a of this car 1 cuts currently depending on vehicle to be cut 3
Acceleration behind track, the i.e. value of the second acceleration, now, this car 1 is changed into having cut with car target
Enter the vehicle to be cut 3 for completing；When the time in 0 between t, vehicle to be cut 3 is current in incision
The process in track 10, in the process, w1It is being gradually reduced, w2Gradually increase, and meet w1+w2
=1.
It is the time of the incision of vehicle to be cut 3 current lane 10 within time t in being embodied as
Process, is also process that this car 1 is gradually adjusted using the speed that the technical program carries out this car.Need to refer to
Go out, the concrete value of time t can set as needed, if the setting of t values is too small to cause setting
The cut process of vehicle to be cut is too short, and does not have the transitional function that this car adjusts speed, if t values are excessive
Can cause set vehicle to be cut cut process it is long, this car response time is long, does not also just have
Effectively adjust the effect of speed.
Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t
Selection, according to speed size, choice of dynamical t, t values are suitably relaxed when speed is larger, it is whole to ensure
The comfortableness of car, on the contrary can set that t is less, and the representative value selection range of t is between 5s to 10s.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment
Suddenly can be by program to instruct the hardware of correlation to complete, the program can be stored in computer-readable
In storage medium, storage medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art,
Without departing from the spirit and scope of the present invention, can make various changes or modifications, therefore the guarantor of the present invention
Shield scope should be defined by claim limited range.
Claims (15)
1. a kind of adaptive cruise control method, it is characterised in that include：
When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, according to described
The movable information of vehicle to be cut calculates second acceleration of this car；
According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car；
According to the speed that acceleration adjusts this car that updates of this car；
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and vehicle to be cut
With the spacing of this car.
2. adaptive cruise control method according to claim 1, it is characterised in that the monitoring
Needing to be cut vehicle on adjacent lane and sending the signal of incision current lane includes：Will be in adjacent car
On road or leave adjacent lane not completely in the vehicle of current lane from this car recently and close to this car
One side steering indicating light installed simultaneously vehicle of the flashing times more than or equal to n time of opening is judged as the vehicle to be cut；
Wherein, n is the natural number more than or equal to 3.
3. adaptive cruise control method according to claim 2, it is characterised in that also include：
The lane line of detection current lane, according to the lane line and the position relationship of vehicle, judges the car
It is in adjacent lane or current lane.
4. adaptive cruise control method according to claim 1, it is characterised in that the basis
The movable information of the vehicle to be cut calculates second acceleration of this car, including：
Using formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate described car the second acceleration；Its
In:af2For second acceleration of this car, K is the known speed according to this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes 11；
VpFor the speed of the vehicle to be cut；VCFor the speed of this car；RsBefore this car on current lane
The spacing of square vehicle and this car；RdFor desired spacing.
5. adaptive cruise control method according to claim 1, it is characterised in that the basis
The renewal acceleration of the current acceleration and second acceleration calculation this car, including：
Using formula a=w1×af1+w2×af2Calculate the renewal acceleration；Wherein, a accelerates for described renewal
Degree, w1And w2For weight coefficient, and w1+w2=1；af1For the current acceleration of this car,
af2For second acceleration of this car.
6. adaptive cruise control method according to claim 1, it is characterised in that at Ruo Benche
In follow the mode, the current acceleration of described car is the fortune according to this front side vehicle on current lane
What dynamic information was calculated, including：
Using formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate under the follow the mode described
The current acceleration of car；Wherein:af1For the current acceleration of this car, K is known according to this car
The acceleration gain coefficient that speed passes through acquisition of tabling look-up；λfFor known range error and velocity error
Weight ratio, representative value takes 11；Vp1For the speed of this front side vehicle on current lane；VCFor this car
Speed；Rs1For the front vehicles and this car spacing；RdFor desired spacing.
7. adaptive cruise control method according to claim 1, it is characterised in that at Ruo Benche
In cruise mode, the current acceleration of described car is speed and current vehicle speed according to user's setting
Difference is by acquisition of tabling look-up.
8. a kind of Vehicle Adaptive Cruising Control Systems, it is characterised in that include：Monitor, adaptive cruise
Controller and drive control device；The adaptive learning algorithms device couples the monitor and the driving
Controller；
The monitor, is suitable to monitor the signal that vehicle to be cut on adjacent lane sends incision current lane,
Obtain described shown when movable information, the cruise mode of vehicle is cut；
The adaptive learning algorithms device, is suitable to calculate this car according to the movable information of the vehicle to be cut
Second acceleration, adds according to the renewal of the current acceleration of this car and second acceleration calculation this car
Speed；
The drive control device, is suitable to the speed that acceleration adjusts this car that updates according to this car；
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and vehicle to be cut
With the spacing of this car.
9. Vehicle Adaptive Cruising Control Systems according to claim 8, the monitor includes camera
And signal processor；The signal processor is suitable to the signal according to camera collection, will be in
On adjacent lane or leave adjacent lane not completely in the vehicle of current lane from this car recently and
Side steering indicating light installed simultaneously vehicle of the flashing times more than or equal to n time of opening of nearly this car one is judged as the incision car
, and be suitable to obtain the movable information of vehicle to be cut；
Wherein, n is the natural number more than or equal to 3；The movable information of the vehicle to be cut includes waiting to cut
The spacing of car speed and vehicle to be cut and this car.
10. Vehicle Adaptive Cruising Control Systems according to claim 9, it is characterised in that the signal
Processor is further adapted for determining the lane line of current lane according to the signal of camera collection, according to institute
The position relationship of lane line and vehicle is stated, judges that the vehicle is in adjacent lane or current lane.
11. a kind of adaptive cruise control devices, it is characterised in that include：Current acceleration acquiring unit,
Second acceleration obtainment unit and renewal acceleration calculation unit；
The current acceleration acquiring unit, is suitable to obtain the current acceleration of this car；
Second acceleration obtainment unit, is suitable to calculate this car according to the movable information of the vehicle to be cut
The second acceleration；
The renewal acceleration calculation unit, is suitable to the current acceleration and second acceleration according to this car
Calculate the renewal acceleration of this car.
12. adaptive cruise control devices according to claim 11, it is characterised in that described second adds
Speed acquiring unit according to it is described wait cut vehicle movable information calculate second acceleration of this car when,
It is adapted in use to formula af2=K × Vc×[(Vp2-Vc)–λf(Rs2–Rd)] calculate the second acceleration of described car
Degree；
Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes
11；Vp2For the speed of the vehicle to be cut；VCFor the speed of this car；Rs2For the car to be cut
Spacing with this car；RdFor desired spacing.
13. adaptive cruise control devices according to claim 11, it is characterised in that the renewal adds
Speed computing unit is adapted in use to formula a=w1×af1+w2×af2Calculate the renewal acceleration；Wherein,
A be the renewal acceleration, w1And w2For weight coefficient, and w1+w2=1；af1For this car
Current acceleration, af2For second acceleration of this car.
14. adaptive cruise control devices according to claim 11, it is characterised in that described currently to add
Speed acquiring unit is suitable to when this car is in follow the mode, using formula af1=
K×Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate the current acceleration of described car under the follow the mode；
Wherein:af1For the current acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up
Acceleration gain coefficient；λfFor the weight ratio of known range error and velocity error, representative value takes
11；Vp1For the speed of this front side vehicle on current lane；VCFor the speed of this car；Rs1For described
Front vehicles and this car spacing；RdFor desired spacing.
15. adaptive cruise control devices according to claim 11, it is characterised in that described currently to add
Speed acquiring unit, is suitable to when this car is in cruise mode, according to the speed of user's setting and current
The difference of speed is by the acquisition current acceleration of tabling look-up.
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| CN111547055A (en) * | 2020-04-29 | 2020-08-18 | 浙江吉利汽车研究院有限公司 | Method and device for controlling distance between vehicles, electronic equipment and storage medium |
| CN113696891A (en) * | 2020-05-18 | 2021-11-26 | 奥迪股份公司 | Auxiliary driving system and method for adaptive cruise driving |
| CN111619564A (en) * | 2020-05-29 | 2020-09-04 | 重庆长安汽车股份有限公司 | Vehicle self-adaptive cruise speed control method, device, processor, automobile and computer readable storage medium |
| CN114435389A (en) * | 2020-11-02 | 2022-05-06 | 上海汽车集团股份有限公司 | Vehicle control method and device and vehicle |
| CN114435389B (en) * | 2020-11-02 | 2024-01-30 | 上海汽车集团股份有限公司 | Vehicle control method and device and vehicle |
| CN114312331A (en) * | 2021-12-31 | 2022-04-12 | 上海前晨汽车科技有限公司 | Coasting energy recovery torque adjustment method, system, device, apparatus, and medium |
| CN114312331B (en) * | 2021-12-31 | 2023-11-14 | 上海前晨汽车科技有限公司 | Coasting energy recovery torque adjustment method, system, device, apparatus and medium |
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