CN106915352A - A kind of self adaptation follows cruise control method and system - Google Patents
A kind of self adaptation follows cruise control method and system Download PDFInfo
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- CN106915352A CN106915352A CN201710186901.8A CN201710186901A CN106915352A CN 106915352 A CN106915352 A CN 106915352A CN 201710186901 A CN201710186901 A CN 201710186901A CN 106915352 A CN106915352 A CN 106915352A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000006978 adaptation Effects 0.000 title claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 239000008186 active pharmaceutical agent Substances 0.000 claims description 19
- 238000011217 control strategy Methods 0.000 claims description 16
- 230000002708 enhancing effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
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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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W40/10—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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
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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)
- Traffic Control Systems (AREA)
Abstract
The present invention is applied to unmanned technical field, there is provided a kind of self adaptation follows cruise control method and system, the method to comprise the following steps：Receive the driving parameters that onboard sensor sends, relative parameter is calculated according to safety traffic parameter and driving parameters and compares M, the relative parameter ratio is used to characterize driving parameters deviation safety traffic parameter difference, based on comparing, parameter is adjusted to the driving parameters of intelligent vehicle, reduces the difference of driving parameters and safety traffic parameter.The embodiment of the present invention is based on relative parameter and compares control road speed, when driving parameters are closer to safety traffic parameter, relative parameter than value it is smaller, correspondence acceleration magnitude is smaller, until accelerating vanishing, as at the uniform velocity travel, it is to avoid the traffic safety hidden danger that causes and driving is uncomfortable when being directly entered at the uniform velocity traveling by even Reduced Speed Now.
Description
Technical field
Cruise control method and system are followed the invention belongs to unmanned technical field, more particularly to a kind of self adaptation.
Background technology
Adaptive cruise control system is a kind of intelligentized automatic control system, and it is in the cruise control for probably already existing
Developed on the basis of technology.In vehicle travel process, the spacing sensor (radar) installed in front part of vehicle continues
Scanning vehicle road ahead, at the same wheel speed sensors collection GES, when too small with the distance between front truck, ACC controls
Unit can by with anti-blocking brake system, engine control system coordination, wheel is suitably braked, and make engine
Power output decline so that vehicle and front vehicles remain safe distance.
Existing adaptive cruise control system uses linear control mode mostly, i.e., when with the distance between front truck mistake
Hour, mostly it is to reduce travel speed by way of even deceleration, the purpose of increase and leading vehicle distance is reached, by even deceleration
Mode reduces travel speed, and when speed is reduced to target velocity, vehicle is entered by even Reduced Speed Now and at the uniform velocity runs over suddenly
Journey, due to there is inertia, can influence the comfortableness of traffic safety and driving.
The content of the invention
The embodiment of the present invention provides a kind of self adaptation and follows cruise control method, it is intended to solve existing adaptive cruise control
System processed uses linear control mode mostly, and travel speed is reduced by way of even deceleration, and target is reduced in speed
During speed, vehicle, due to there is inertia, can influence traffic safety and driving suddenly by even Reduced Speed Now into process is at the uniform velocity travelled
Comfortableness problem.
The present invention is achieved in that a kind of self adaptation of offer follows cruise control method, and methods described includes following step
Suddenly：
S1, the driving parameters for receiving onboard sensor transmission；
S2, according to the driving parameters and safety traffic parameter calculate relative parameter than M, the relative parameter ratio be used for table
Levy the driving parameters and deviate the safety traffic parameter difference；
S3, the driving parameters of the intelligent vehicle are adjusted based on the parameter that compares, reduce the traveling ginseng
Count the difference with the safety traffic parameter；
The target vehicle is in identical track with the intelligent vehicle, and the target vehicle is located at the intelligent vehicle
Front.
Cruise control system is followed present invention also offers a kind of self adaptation, it is characterised in that the system includes：
Onboard sensor and the electronic controller being connected with the onboard sensor, wherein,
The onboard sensor is for obtaining driving parameters；
The electronic controller adjusts the driving parameters based on safety traffic parameter, and the electronic controller includes：
Receiver module, the driving parameters for receiving onboard sensor transmission；
Computing module, for calculating relative parameter than M according to the driving parameters and safety traffic parameter, the relative ginseng
Number for characterizing the driving parameters than deviateing the safety traffic parameter difference；And
Adjusting module, for being adjusted to the driving parameters of the intelligent vehicle based on the parameter that compares, is reduced
The driving parameters with it is described safety traffic parameter difference；
The target vehicle is in identical track with the intelligent vehicle, and the target vehicle is located at the intelligent vehicle
Front.
The embodiment of the present invention is based on relative parameter and compares control road speed, when driving parameters are closer to safety traffic parameter
When, relative parameter than value it is smaller, correspondence acceleration magnitude it is smaller, until accelerate vanishing, as at the uniform velocity travel, it is to avoid subtracted by even
The traffic safety hidden danger that causes and driving is uncomfortable when speed traveling is directly entered at the uniform velocity traveling.
Brief description of the drawings
Fig. 1 is the flow chart that the self adaptation that the embodiment of the present invention one is provided follows cruise control method；
Fig. 2 is the structural representation that the self adaptation that the embodiment of the present invention six is provided follows cruise control system.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In embodiments of the present invention, onboard sensor is included based on adaptive cruise control system and is connected with onboard sensor
The electronic control unit for connecing, onboard sensor is used to obtaining the driving parameters of target vehicle and intelligent vehicle, such as target vehicle and
The travel speed of intelligent vehicle, the spacing between target vehicle and intelligent vehicle；Electronic control unit is sent based on onboard sensor
Driving parameters formulate follow-up strategy.
As 1 is the flow chart that the self adaptation that the embodiment of the present invention one is provided follows cruise control method, the method is included such as
Lower step：
S1, the driving parameters for receiving onboard sensor transmission；
In embodiments of the present invention, the driving parameters are the real-time range D between intelligent vehicle and target vehicleHOr intelligent vehicle
Travel speed VH；
In embodiments of the present invention, the target vehicle is in identical track with intelligent vehicle, and target vehicle is located at
The front of intelligent vehicle.
S2, according to safety traffic parameter and driving parameters calculate relative parameter than M, the relative parameter ratio be used for characterize row
Sail parameter drift-out safety traffic parameter difference.
In embodiments of the present invention, relative parameter is than M=(safety traffic parameter-driving parameters)/safety traffic parameter；When
Driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, safety traffic parameter is safety traffic apart from DS, relatively
Spacing ratioWhen driving parameters are the travel speed V of intelligent vehicleHWhen, safety traffic parameter is target vehicle
Travel speed VT, with respect to speed ratio
In embodiments of the present invention, safety traffic distance reflection intelligent vehicle driver expects that intelligent vehicle is protected with target vehicle
The real-time spacing held, computing formula is as follows：
DS=VHTH+D0
In formula, VHIt is intelligent vehicle speed, unit m/s is obtained by onboard sensor；THIt is the time constant of safe distance between vehicles, instead
The desired time interval with target vehicle holding certain distance scope of intelligent vehicle driver is reflected, the size of its value is by driver's root
The span be given according to system is set, and system provides THSpan be 1.2~2s；D0It is the distance of safe distance between vehicles
Constant, reflects the desired minimum safe spacing of intelligent vehicle driver, the value that the size of its value is given by driver according to system
Scope sets, and system provides D0Span be 2~5m.
S3, based on comparing, parameter is adjusted to the driving parameters of intelligent vehicle, reduces driving parameters with safety traffic
The difference of parameter.
In embodiments of the present invention, when driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, step
S3 is specifically included：
S31, compare real-time range DHWith safe distance DSSize；
S32, as real-time range DHMore than safe distance DSWhen, then control intelligent vehicle to give it the gun, as real-time range DHDeng
In safe distance DSWhen, then control intelligent vehicle at the uniform velocity to travel, as real-time range DHLess than safe distance DSWhen, then control intelligence
Vehicle deceleration is travelled, and the size of the acceleration magnitude corresponding with Reduced Speed Now that gives it the gun is with relative spacing than absolute value | M's |
Size is directly proportional.
In embodiments of the present invention, when driving parameters are the travel speed V of intelligent vehicleHWhen, step S3 is specifically included：
The travel speed V of S33, intelligent vehicleHWith the travel speed V of target vehicleTSize；
S34, the travel speed V when intelligent vehicleHMore than the travel speed V of target vehicleTWhen, then control intelligent vehicle to slow down
Traveling, as the travel speed V of intelligent vehicleHEqual to the travel speed V of target vehicleTWhen, then intelligent vehicle is controlled with speed VHAt the uniform velocity
Traveling, as the travel speed V of intelligent vehicleHLess than the travel speed V of target vehicleTWhen, then control intelligent vehicle to give it the gun, should
The size of acceleration magnitude corresponding with Reduced Speed Now of giving it the gun is directly proportional with relative spacing than the size of absolute value | M |.
The embodiment of the present invention is based on relative parameter and compares control road speed, when driving parameters are closer to safety traffic parameter
When, relative parameter than value it is smaller, correspondence acceleration magnitude it is smaller, until accelerate vanishing, as at the uniform velocity travel, it is to avoid subtracted by even
The traffic safety hidden danger that causes and driving is uncomfortable when speed traveling is directly entered at the uniform velocity traveling.
Additionally, on the premise of it ensure that safety, and being protected to greatest extent than carrying out the regulation and control of speed according to relative parameter
Card road speed, saves running time, and be conducive to slowing down traffic pressure.
The embodiment of the present invention two is on the basis of embodiment one, step S4-S5 also to be included upon step s 2：
S4, foundation relative parameter are than obtaining enhancing signal R, the enhancing signal R for evaluating the current control of intelligent vehicle
System strategy；
S5, when R values are equal to the first preset value, judge that the current control strategy of intelligent vehicle is good, intelligent vehicle is current
Travel speed and corresponding spacing be empirically worth and stored, when R is to less than the first preset value, judge that intelligent vehicle is worked as
Preceding control strategy is bad, and the empirical value according to storage is adjusted to driving parameters；
In embodiments of the present invention, the computing formula of enhancing signal R values is as follows：
R=0.8k×(|M|-0.05)
Wherein, k be index expansion factor, when set the first preset value value as 1, i.e., | M |≤0.05 when, judgement intelligent vehicle
Current control strategy is good, the current travel speed of intelligent vehicle and corresponding spacing is empirically worth and is stored, when |
M | during ＞ 0.05, judge that the current control strategy of intelligent vehicle is bad, the empirical value according to storage is adjusted to driving parameters.
Numerical value of the embodiment of the present invention based on enhancing signal judges the quality of the current control strategy of intelligent vehicle, will be good
The corresponding traveling travel speed of control strategy and spacing are empirically worth and are stored, and are independently learned during the traveling for after
Practise, realize the autonomous optimization of traveling process.
Embodiment three is on the basis of embodiment one or embodiment two, as real-time range DHLess than safe distance DSWhen, step
Rapid S32 also includes：
S321, judge real-time range DHWhether early warning distance D is less thanW；
In embodiments of the present invention, early warning distance DWLess than safe distance DH, driver is set during the early warning distance
's.
S322, if the determination result is YES, then alerting drivers whether enter pilot steering pattern, if judged result is no,
Then control intelligent vehicle carries out Reduced Speed Now, and the size of the corresponding acceleration magnitude of Reduced Speed Now is with relative spacing than absolute value | M's |
Size is directly proportional.
In safe distance of the real-time range less than setting, whether alerting drivers are transferred to pilot steering to the embodiment of the present invention
Pattern, for the safety of driving with the addition of a guarantee.
Example IV is on the basis of embodiment three, if the non-selected entrance pilot steering pattern of driver, step
S322 also includes：
S3221, judge real-time spacing DHWhether bumper car is less than away from DB；
In embodiments of the present invention, the bumper car is away from DBLess than early warning spacing DW。
S3222, if the determination result is YES, then control intelligent vehicle to be slowed down with maximum deceleration, if judged result
It is no, then controls intelligent vehicle to carry out Reduced Speed Now, size of the size of corresponding acceleration magnitude with relative spacing than absolute value | M |
It is directly proportional.
The embodiment of the present invention realizes active control when real-time spacing is less than early warning spacing, is subtracted with the maximum of intelligent vehicle
Speed is slowed down, and widens the spacing between target vehicle and intelligent vehicle as far as possible within the time of most section, prevents the hair of accident
It is raw, further ensure traffic safety.
Embodiment five is on the basis of embodiment one, also to include before step S1：
S6, the intelligent vehicle according to onboard sensor acquisition are sentenced with positioned at the distance between intelligent vehicle lane preceding vehicle
Whether there is target vehicle in the front setpoint distance in track where disconnected intelligent vehicle；
If S7, judged result are no, control intelligent vehicle is travelled with the speed for setting, if the determination result is YES,
Then perform step S1.
In embodiments of the present invention, onboard sensor obtains intelligent vehicle and between intelligent vehicle lane preceding vehicle
Distance, judges in setpoint distance with the presence or absence of vehicle, if there is vehicle, as target vehicle, then carry out adaptivity with
It is not then target vehicle that intelligent vehicle is followed to vehicle if there is vehicle outside setpoint distance with cruise control, then controls
Intelligent vehicle constant-speed traveling processed.
When front travels without target vehicle, control intelligent vehicle is travelled the embodiment of the present invention with specific speed,
When duck vehicle is travelled, spacing is carried out with the driving cycle of target vehicle and other setup parameters according to intelligent vehicle
Effectively control, so as to ensure the safe distance between vehicles of intelligent vehicle and target vehicle, it is to avoid the generation of traffic accident.
One of ordinary skill in the art will appreciate that realizing that all or part of above-described embodiment can be by hardware come complete
Into, it is also possible to completed by the related hardware of programmed instruction, the program for performing above-mentioned steps can be stored in a kind of computer
Readable storage medium storing program for executing, storage medium mentioned above can be read-only storage, flash memory, disk or CD etc..
Fig. 2 is the structural representation that the self adaptation that the embodiment of the present invention six is provided follows cruise control system, for the ease of
Illustrate, the part related to the embodiment of the present invention is only shown.
The system includes：
Onboard sensor 1 and the electronic controller 2 being connected with onboard sensor, wherein,
Onboard sensor 1 is used to obtain driving parameters；
In embodiments of the present invention, the driving parameters are the real-time range D between intelligent vehicle and target vehicleHOr intelligent vehicle
Travel speed VH。
In embodiments of the present invention, the target vehicle is in identical track with intelligent vehicle, and target vehicle is located at
The front of intelligent vehicle.
Electronic controller 2 adjusts driving parameters based on safety traffic parameter, and the electronic controller 2 includes：
Receiver module 21, the driving parameters for receiving onboard sensor transmission；
Computing module 22, for calculating relative parameter than M according to safety traffic parameter and driving parameters, the relative parameter
Than deviateing safety traffic parameter difference for characterizing driving parameters.
In embodiments of the present invention, relative parameter is than M=(safety traffic parameter-driving parameters)/safety traffic parameter；When
Driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, safety traffic parameter is safety traffic apart from DS, relatively
Spacing ratioWhen driving parameters are the travel speed V of intelligent vehicleHWhen, safety traffic parameter is target vehicle
Travel speed VT, with respect to speed ratio
In embodiments of the present invention, safety traffic distance reflection intelligent vehicle driver expects that intelligent vehicle is protected with target vehicle
The real-time spacing held, computing formula is as follows：
DS=VHTH+D0
In formula, VHIt is intelligent vehicle speed, unit m/s is obtained by onboard sensor；THIt is the time constant of safe distance between vehicles, instead
The desired time interval with target vehicle holding certain distance scope of intelligent vehicle driver is reflected, the size of its value is by driver's root
The span be given according to system is set, and system provides THSpan be 1.2~2s；D0It is the distance of safe distance between vehicles
Constant, reflects the desired minimum safe spacing of intelligent vehicle driver, the value that the size of its value is given by driver according to system
Scope sets, and system provides D0Span be 2~5m.
Adjusting module 23, for being adjusted to the driving parameters of intelligent vehicle based on the parameter that compares, reduces traveling ginseng
The difference of number and safety traffic parameter.
In embodiments of the present invention, when driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, adjustment
Module 23 includes：
First comparison sub-module 231, for comparing real-time range DHWith safe distance DSSize；
First treatment submodule 232, as real-time range DHMore than safe distance DSWhen, for controlling intelligent vehicle to accelerate row
Sail, as real-time range DHEqual to safe distance DSWhen, for controlling intelligent vehicle at the uniform velocity to travel, as real-time range DHLess than safety
Apart from DSWhen, for controlling intelligent vehicle Reduced Speed Now, the size of the acceleration magnitude corresponding with Reduced Speed Now that gives it the gun with
It is directly proportional than the size of absolute value | M | with respect to spacing.
In embodiments of the present invention, when driving parameters are the travel speed V of intelligent vehicleHWhen, adjusting module 23 includes：
Second comparison sub-module 233, for the travel speed V of intelligent vehicleHWith the travel speed V of target vehicleT's
Size；
Second processing submodule 234, as the travel speed V of intelligent vehicleHMore than the travel speed V of target vehicleTWhen, use
In control intelligent vehicle Reduced Speed Now, as the travel speed V of intelligent vehicleHEqual to the travel speed V of target vehicleTWhen, for controlling
Intelligent vehicle is with speed VHAt the uniform velocity travel, as the travel speed V of intelligent vehicleHLess than the travel speed V of target vehicleTWhen, for controlling
Intelligent vehicle processed gives it the gun, and the size of the acceleration magnitude corresponding with Reduced Speed Now that gives it the gun is with relative spacing than absolute value | M
| size be directly proportional.
The embodiment of the present invention is based on relative parameter and compares control road speed, when driving parameters are closer to safety traffic parameter
When, relative parameter than value it is smaller, correspondence acceleration magnitude it is smaller, until accelerate vanishing, as at the uniform velocity travel, it is to avoid subtracted by even
The traffic safety hidden danger that causes and driving is uncomfortable when speed traveling is directly entered at the uniform velocity traveling.
Additionally, on the premise of it ensure that safety, and being protected to greatest extent than carrying out the regulation and control of speed according to relative parameter
Card road speed, saves running time, and be conducive to slowing down traffic pressure.
The embodiment of the present invention seven is that on the basis of embodiment six, the electronic controller 2 also includes：
Enhancing signal acquisition module 24, for strengthening signal R than obtaining according to relative parameter, the enhancing signal R is used for
Evaluate the current control strategy of intelligent vehicle；
Tactful determination module 25, when R values are equal to the first preset value, judges that the current control strategy of intelligent vehicle is good, uses
Stored in the current travel speed of intelligent vehicle and corresponding spacing are empirically worth, when R is to less than the first preset value
When, judge that the current control strategy of intelligent vehicle is bad, for being adjusted to driving parameters according to the empirical value of storage；
In embodiments of the present invention, the computing formula of enhancing signal R values is as follows：
R=0.8k×(|M|-0.05)
Wherein, k be index expansion factor, when set the first preset value value as 1, i.e., | M |≤0.05 when, judgement intelligent vehicle
Current control strategy is good, the current travel speed of intelligent vehicle and corresponding spacing is empirically worth and is stored, when |
M | during ＞ 0.05, judge that the current control strategy of intelligent vehicle is bad, the empirical value according to storage is adjusted to driving parameters.
Numerical value of the embodiment of the present invention based on enhancing signal judges the quality of the current control strategy of intelligent vehicle, will be good
The corresponding traveling travel speed of control strategy and spacing are empirically worth and are stored, and are independently learned during the traveling for after
Practise, realize the autonomous optimization of traveling process.
Embodiment eight is on the basis of embodiment six or embodiment seven, as real-time range DHLess than safe distance DSWhen, the
One treatment submodule 232 includes：
Judging unit 2321, for judging real-time range DHWhether early warning distance D is less thanW；
In embodiments of the present invention, early warning distance DWLess than safe distance DH, driver is set during the early warning distance
's.
Whether processing unit 2322, if the determination result is YES, pilot steering pattern is entered for alerting drivers, if judging
Result is no, for controlling intelligent vehicle to carry out Reduced Speed Now, the size of the corresponding acceleration magnitude of Reduced Speed Now and relative spacing ratio
The size of absolute value | M | is directly proportional.
In safe distance of the real-time range less than setting, whether alerting drivers are transferred to pilot steering to the embodiment of the present invention
Pattern, for the safety of driving with the addition of a guarantee.
Embodiment nine is on the basis of embodiment eight, if the non-selected entrance pilot steering pattern of driver, processing unit
2322 also include：
Judgment sub-unit 2322a, for judging real-time spacing DHWhether bumper car is less than away from DB；
In embodiments of the present invention, the bumper car is away from DBLess than early warning spacing DW。
Treatment subelement 2322b, if the determination result is YES, is possessed control intelligent vehicle and is subtracted with maximum deceleration
Speed, if judged result is no, for controlling intelligent vehicle to carry out Reduced Speed Now, the size of corresponding acceleration magnitude and relative spacing ratio
The size of absolute value | M | is directly proportional.
The embodiment of the present invention realizes active control when real-time spacing is less than early warning spacing, is subtracted with the maximum of intelligent vehicle
Speed is slowed down, and widens the spacing between target vehicle and intelligent vehicle as far as possible within the time of most section, prevents the hair of accident
It is raw, further ensure traffic safety.
Embodiment ten is that on the basis of embodiment six, the system also includes：
Judge module, for the intelligent vehicle obtained according to onboard sensor and between intelligent vehicle lane preceding vehicle
Distance, judge in the front setpoint distance in track where intelligent vehicle with the presence or absence of target vehicle；
Processing module, if judged result is no, the speed for controlling intelligent vehicle to set is travelled, if judging knot
Fruit is yes, then into receiver module.
In embodiments of the present invention, onboard sensor obtains intelligent vehicle and between intelligent vehicle lane preceding vehicle
Distance, judges in setpoint distance with the presence or absence of vehicle, if there is vehicle, as target vehicle, then carry out adaptivity with
It is not then target vehicle that intelligent vehicle is followed to vehicle if there is vehicle outside setpoint distance with cruise control, then controls
Intelligent vehicle constant-speed traveling processed.
When front travels without target vehicle, control intelligent vehicle is travelled the embodiment of the present invention with specific speed,
When duck vehicle is travelled, spacing is carried out with the driving cycle of target vehicle and other setup parameters according to intelligent vehicle
Effectively control, so as to ensure the safe distance between vehicles of intelligent vehicle and target vehicle, it is to avoid the generation of traffic accident.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of self adaptation follows cruise control method, it is characterised in that methods described comprises the following steps：
S1, the driving parameters for receiving onboard sensor transmission；
S2, according to the driving parameters and safety traffic parameter calculate relative parameter than M, the relative parameter ratio be used for characterize institute
State driving parameters and deviate the safety traffic parameter difference；
S3, the driving parameters of the intelligent vehicle are adjusted based on the parameter that compares, reduce the driving parameters with
The difference of the safety traffic parameter；
The target vehicle is in identical track with the intelligent vehicle, and the target vehicle is located at the intelligent vehicle
Front.
2. self adaptation as claimed in claim 1 follows cruise control method, it is characterised in that the driving parameters are intelligent vehicle
Real-time range D and between target vehicleHOr the travel speed V of intelligent vehicleH；
When the driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, corresponding safety traffic parameter is to set
Fixed safe distance；
When the driving parameters are the travel speed V of intelligent vehicleHWhen, corresponding safety traffic parameter is the target vehicle
Travel speed.
3. self adaptation as claimed in claim 2 follows cruise control method, it is characterised in that described when driving parameters are described
Real-time range D between intelligent vehicle and the target vehicleHWhen, the step S3 specifically includes following steps：
Real-time range D described in S31, comparingHWith the safe distance DSSize；
S32, as the real-time range DHMore than the safe distance DSWhen, then control the intelligent vehicle to give it the gun, when described
Real-time range DHEqual to the safe distance DSWhen, then control the intelligent vehicle at the uniform velocity to travel, as the real-time range DHIt is less than
The safe distance DSWhen, then control the intelligent vehicle Reduced Speed Now, it is described give it the gun it is corresponding with the Reduced Speed Now
The size of acceleration magnitude is directly proportional with relative spacing than the size of absolute value.
4. self adaptation as claimed in claim 2 follows cruise control method, it is characterised in that described when driving parameters are intelligence
The travel speed V of vehicleHWhen, the step S3 specifically includes following steps：
The travel speed V of intelligent vehicle described in S33, comparingHWith the travel speed V of the target vehicleTSize；
S34, the travel speed V when the intelligent vehicleHMore than the travel speed V of the target vehicleTWhen, then control the intelligence
Energy car Reduced Speed Now, as the travel speed V of the intelligent vehicleHEqual to the travel speed V of the target vehicleTWhen, then control institute
Intelligent vehicle is stated with speed VHAt the uniform velocity travel, as the travel speed V of the intelligent vehicleHLess than the travel speed of the target vehicle
VTWhen, then control the intelligent vehicle to give it the gun, the size of the acceleration magnitude corresponding with the Reduced Speed Now that gives it the gun
It is directly proportional than the size of absolute value with the relative spacing.
5. self adaptation as claimed in claim 1 follows cruise control method, it is characterised in that also include upon step s 2：
S4, according to the relative parameter than obtain enhancing signal value R, the enhancing signal value R be used for evaluate the intelligent vehicle
Current control strategy；
S5, when R values are equal to the first preset value, judge that the current control strategy of the intelligent vehicle is good, by the intelligent vehicle
Current travel speed and corresponding spacing is empirically worth and is stored, and when R values are less than first preset value, judges institute
State that the current control strategy of intelligent vehicle is bad, the empirical value according to the storage is adjusted to the driving parameters.
6. self adaptation as claimed in claim 3 follows cruise control method, it is characterised in that as the real-time range DHIt is less than
The safe distance DSWhen, the step S32 also includes：
S321, judge the real-time range DHWhether early warning distance D is less thanW, the early warning distance DWLess than the safe distance DH；
S322, if the determination result is YES, then alerting drivers whether enter pilot steering pattern, if judged result is no, control
Making the intelligent vehicle carries out Reduced Speed Now, and the size of the corresponding acceleration magnitude of the Reduced Speed Now is with relative spacing than absolute value
Size is directly proportional.
7. self adaptation as claimed in claim 6 follows cruise control method, it is characterised in that if the non-selected entrance people of driver
Work driving model, then step S322 also include：
S3221, judge the real-time spacing DHWhether the bumper car is less than away from DB, the bumper car is away from DBLess than the early warning
Spacing DW；
S3222, if the determination result is YES, then control the intelligent vehicle to be slowed down with maximum deceleration, if judged result
Be no, then controlled intelligent vehicle to carry out Reduced Speed Now according to relative spacing ratio, the size of the acceleration and relative spacing than
The size of absolute value is directly proportional.
8. the self adaptation as described in claim 1 to 7 any claim follows cruise control method, it is characterised in that in step
Also include before rapid S1：
S6, according to the onboard sensor obtain the intelligent vehicle and between intelligent vehicle lane preceding vehicle away from
From judging in the setpoint distance in front of track where intelligent vehicle with the presence or absence of target vehicle；
If S7, judged result are no, control intelligent vehicle is travelled with the speed for setting, and if the determination result is YES, is then held
Row step S1.
9. a kind of self adaptation follows cruise control system, it is characterised in that the system includes：
Onboard sensor and the electronic controller being connected with the onboard sensor, wherein,
The onboard sensor is for obtaining driving parameters；
The electronic controller adjusts the driving parameters based on safety traffic parameter, and the electronic controller includes：
Receiver module, the driving parameters for receiving onboard sensor transmission；
Computing module, for calculating relative parameter than M according to the driving parameters and safety traffic parameter, the relative parameter ratio
Deviate the safety traffic parameter difference for characterizing the driving parameters；And
Adjusting module, for being adjusted to the driving parameters of the intelligent vehicle based on the parameter that compares, reduces described
Driving parameters with it is described safety traffic parameter difference；
The target vehicle is in identical track with the intelligent vehicle, and the target vehicle is located at the intelligent vehicle
Front.
10. self adaptation as claimed in claim 9 follows cruise control system, it is characterised in that the driving parameters are intelligence
Real-time range D between vehicle-to-target vehicleHOr the travel speed V of intelligent vehicleH；
When the driving parameters are the real-time range D between intelligent vehicle and target vehicleHWhen, corresponding safety traffic parameter is to set
Fixed safe distance；
When the driving parameters are the travel speed V of intelligent vehicleHWhen, corresponding safety traffic parameter is the target vehicle
Travel speed.
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