CN109367537A - A kind of electric car adaptive cruise control system and method based on car networking - Google Patents
A kind of electric car adaptive cruise control system and method based on car networking Download PDFInfo
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- CN109367537A CN109367537A CN201811487191.3A CN201811487191A CN109367537A CN 109367537 A CN109367537 A CN 109367537A CN 201811487191 A CN201811487191 A CN 201811487191A CN 109367537 A CN109367537 A CN 109367537A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000001172 regenerating effect Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000006870 function Effects 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000008929 regeneration Effects 0.000 claims description 4
- 238000011069 regeneration method Methods 0.000 claims description 4
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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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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Abstract
The invention discloses a kind of electric car adaptive cruise control system and method based on car networking, as shown in the picture, comprising: car networking Vehicular device is set to inside electric car, obtains extraneous road and other information of vehicles by wireless communication；Car networking road device is set to road trackside, connect with cloud server, is wirelessly connected with the car networking Vehicular device and transmits information；Electric car adaptive learning algorithms device is connect with the car networking Vehicular device, is received the information that it is obtained from the external world and is controlled electric car adaptive cruise function.The present invention expands traffic information transmission range and information content, reduces wireless transmission delay.The present invention also provides a kind of electric car self-adapting cruise control method based on car networking, Dynamic Programming strategy is formulated in vehicle speed before regenerative braking deceleration follows according to front truck speed real-time update this vehicle braking strategy, electric car regenerative braking result is made to reach best.
Description
Technical field
The invention belongs to intelligent transportation car networking facility and braking energy of electric automobiles recovery technology fields, and in particular to
A kind of electric car adaptive cruise control system and method based on car networking.
Background technique
Existing electric car Regenerative Braking Technology main purpose is that electricity is utilized during electric car is braked
Machine generates running resistance square as generator operation, and the power storage of generation is in the power battery of electric car.Existing vapour
Vehicle self-adaption cruise system has cruise and follow the bus both of which, carries out under specific operation to automobile longitudinal vehicle dynamics
Control, is a kind of driver assistance driving technology.Existing car networking technology can be realized the reality of information of vehicles in road traffic
When it is shared, and can real-time update road conditions information, be Real-Time Sharing letter between a kind of between vehicle-vehicle and vehicle-road
The technology of breath.
It is more mature for the self-adaption cruise system development of conventional fuel oil automobile at present, for the adaptive of electric car
Cruise system is in conceptual phase, and traveling control model such as regenerative braking exclusive with electric car etc. combines not
Closely；Electronic navigation system and trailer-mounted radar sensor, the letter of electronic navigation system are mainly passed through for the acquisition of traffic information
Breath updates undesirable with the excessively high acquisition effect for leading to traffic information of the cost of trailer-mounted radar sensor not in time.
Summary of the invention
Undesirable effect and self-adaption cruise system and electronic vapour are obtained for traffic information in the prior art in order to overcome
Exclusive traveling control model such as regenerative braking of vehicle etc. combines untight disadvantage, and the present invention provides a kind of based on vehicle connection
The electric car adaptive cruise control system and method for net, car networking wireless communication apparatus is taken based on IEEE in the system
802.15.4 the ZigBee wireless communication protocol (hereinafter referred to as Zigbee protocol) of standard realizes the license plate number of vehicle on road,
Speed, the information such as position and road speed limit, the information such as gradient are shared between road and vehicle and vehicle and vehicle, electronic vapour
The self-adaption cruise system of vehicle adjusts constant speed and Car following model switching during cruise, determines most using these information as foundation
On good braking opportunity, Brake energy recovery effect is made to reach best.Vehicle in the process of moving trackside to vehicle transmit road slope
Degree, the speed of speed limit and other vehicles, position, the information such as traveling lane, vehicle transmit speed, battery charge state to trackside
(hereinafter referred to as SOC value), position, driving direction, the information such as traveling lane.The front that vehicle is fed back according to self-position and trackside
Vehicle location obtains the spacing of itself and front truck, is determined according to the front truck speed that itself speed, SOC value, spacing and trackside are fed back
Cruise mode is the opportunity of constant speed or follow the bus and the switching of both states.It is patrolled in Car following model or constant speed mode switching
It navigates in rate process, vehicle can be pressed according to the information obtained from car networking wireless communication apparatus and the status information of itself
According to the strategy of setting obtain that regenerative braking result can be made to reach optimal traveling scheme.
In the present invention, have for the improvement of the background technique: the device that can be realized car networking function is complete
Ball positioning system (hereinafter referred to as GPS) module uses the XBee communication module of ZigBee wireless communication protocol (hereinafter referred to as
XBee module), using this covering device realize car networking function, thus make due to electronic navigation system information update not in time and
The undesirable disadvantage of the excessively high acquisition effect for leading to traffic information of the cost of trailer-mounted radar sensor is avoided.It is provided by the invention
Vehicle Adaptive Cruising Control Systems are designed towards electric car, regeneration brake system and battery for electric car etc.
The components different from conventional fuel oil automobile account for, and can effectively save on the basis of considering driver's driver comfort
Electric car energy consumption extends electric car continual mileage.
In conjunction with Figure of description, technical scheme is as follows:
A kind of electric car adaptive cruise control system based on car networking, wherein the wireless communication based on car networking fills
It sets using the ZigBee wireless communication protocol based on IEEE 802.15.4 standard, by Vehicular device and road on hardware configuration
Device composition, Vehicular device are mounted in automobile, and road device is mounted on traffic route roadside；
The Vehicular device is by the first master control borad, the first XBee module, camera module and GPS module composition, camera shooting
The road of head module shooting vehicle current driving simultaneously identifies the lane of current driving and sends it to the first master control borad, GPS
Vehicle location is determined and transmitted to the first master control borad by module, and the first master control borad and vehicle CAN bus and electric car are adaptive
Cruise control connection, can be by the identification of the vehicle information on automobile CAN-bus, vehicle speed information, SOC value information, and pedal is opened
Degree information etc. is read out, and the first XBee module by connecting with the first master control borad sends such information to road device
On the 2nd XBee module, while the first XBee module of Vehicular device can also receive what the 2nd XBee module of road was sent
Relevant information, and send it in electric car adaptive learning algorithms device by the first master control borad；
The road device is stored with speed limit, road by the second master control borad, the 2nd XBee module composition, the second master control borad in the middle
The roads relevant information such as road gradient, can be sent to by the 2nd XBee module on road device on traffic first
XBee module, while the 2nd XBee module on road device can also receive the correlation sent from the first XBee module of vehicle
Information, road device are also connected with cloud server, with information that real-time update is broadcasted outward and can upload what itself was received
Information, cloud server are connect with the second master control borad, in practical applications, there are multiple car networking road devices in car networking,
Second master control borad of cloud server and each car networking road device establishes connection and transmits information mutually.
Braking system on the electric car adaptive learning algorithms device and electric automobile chassis, drive system and steering
The controller of system is connected, and can adjust the row of electric car according to the information transmitted in car networking during running car
Sail state and mode.
A kind of electric car self-adapting cruise control method based on car networking, wherein the adaptive cruise mistake of electric car
There are cruises and follow the bus cruise both of which for journey.If the first XBee module of Vehicular device receives road device transmission
In other information of vehicles come, when being greater than the set value L at a distance from the nearest vehicle in front identical with this vehicle current lane and this vehicle,
Electric car adaptive learning algorithms device be considered as it is accessible in front of this lane, into cruise mode, to be determined in advance
Cruising speed vcRemain a constant speed traveling.If the first XBee module of Vehicular device receives other that road device sends
In information of vehicles, being less than or equal to setting value L at a distance from the nearest vehicle in front identical with this vehicle current lane and this vehicle (can
To be adjusted) when, at this time in order to save the time that signal transmits, shorten the delay of signal transmission, the method taken is road
Device sends the identification of the vehicle of an other vehicle to the first XBee module above two vehicles respectively, then the first of this two cars
XBee module pairs simultaneously establish wireless connection, in this way from the status information for directly sending itself between two vehicles to other side, eliminate
The step of by road device as transfer, ensure that the low latency of signal transmission.Electric car adaptive learning algorithms device at this time
Compare the cruising speed v of this vehicle settingcWith the travel speed v of front truckfSize, if vc≤vf, illustrate front truck and this vehicle spacing not
It can reduce again, still maintain cruise mode at this time, if vc> vf, illustrate if continued by travelling at this rate, Ben Che with
Front truck spacing can constantly reduce until collision, switches into Car following model, this vehicle decelerates to v at this timec=vfAnd two vehicle distance simultaneously
It is reduced to safe distance s (s < L).
In the Car following model, in this vehicle decelerating phase, to guarantee that energy regenerating effect is most in regenerative braking moderating process
It is good, while guaranteeing driver's driver comfort, do not occur excessive braking deceleration, uses Dynamic Programming and optimal control policy
Determine the motor braking process of regenerative braking.Detailed process are as follows: process of regenerative braking is divided into several steps, preceding vehicle speed
Every generation one-shot change rate is more than limit value, then this vehicle braking process enters next step, until two vehicle speeds reach unanimously, if
It experienced N number of such step, state variable of the setting vehicle in kth step (0 < k≤N) in totalIts
Middle v represents the initial speed under the state, and a represents braking deceleration, is obtained by pedal opening, and p represents the displacement of brake pedal,
Superscript i represents i-th kind of state of this step, i=1,2 ..., M, ai=amaxI/M, M are a positive integer, and the bigger representative of M can
Selective state is more, and interval division is finer；K=1 represents original state, k=N represent after braking is completed safety away from
From state when two vehicle speeds reach identical under s, the state variable under the two states be it is known, control strategy be in centre
The step of in, each step to next step carry out during, calculateIt arrivesThe energy recycledWherein i, j=1,
2 ..., M,Maximum value therein is taken, objective function is set as
In order to guarantee the comfort of driver, it is desirable that there are a threshold values for braking deceleration, while being also that this optimization is asked
The constraint condition of topic, is expressed as
The distance that vehicle driving is crossed in entire braking process is
In this way, each step determines in objective function acquisition process when the objective function for meeting constraint condition is optimal
State variable just determine automobile is travelled in braking process distance d, it is determined whether change adaptive cruise strategy institute
Spacing value L of the vehicle from this vehicle is set to recently in front of the same lane of foundation
L=d+s
Minimum safe spacing of the s between two vehicles.That is L can according to the speed of Ben Che and front truck, acceleration and
Location information etc. carries out online updating after determining follow the bus strategy in car networking environment.As described above, the follow the bus mould
In formula, the motor braking algorithm of this vehicle decelerating phase regenerative braking can be concluded according to following algorithmic procedure:
(1) initial value of transmission range L, discretization number of states M, maximum regeneration braking deceleration amax, safe distance between vehicles s；
(2) process of regenerative braking enters first step, enables counter k=1, arrives state M to discretization state 1, successively
Calculate corresponding state variableWherein v represents the initial speed under the state, and a represents braking deceleration, p
The displacement of brake pedal is represented, superscript i represents i-th kind of state of this step, i=1,2 ..., M；
(3) whether the vehicle speed variation rate for detecting front truck is more than then to enter (4) in this way to threshold value, otherwise enters (10)；
(4) counter k increases 1 certainly；
(5) state M is arrived to discretization state 1, successively calculates corresponding state variableWherein v is represented
Initial speed under the state, a represent braking deceleration, and p represents the displacement of brake pedal, and superscript j represents the jth of this step
Kind state, j=1,2 ..., M；
(6) it calculates from stateTo stateThe energy that theory is recycled
(7) calculating in (6) is takenMaximum value is ek, return (3)；
(8) N=k is enabled；
(9) this procedural theory recycling ceiling capacity is calculated
(10) k increases 1, N=k, a certainlyk-1=amax, vkEqual to front truck speed；
(11) this vehicle operating range is during this
(12) it enables L=d+s and updates the value of L in (1)；
A kind of electric car self-adapting cruise control method based on car networking, wherein road device can be to Vehicular device
Road speed limit and grade information are sent, specifically further includes sending road speed limit to change or occur the more specific location information in ramp,
Vehicular device can determine after receiving these information this vehicle apart from road speed limit change position or rise slope position away from
From.If car networking system perceives front, there are the change of road speed limit and new speed limit vdLess than current cruising speed vc,
Then at speed limit change distance beSentence amaxDeceleration is decelerated to vdAfterwards with vdCarry out cruise.
Compared with prior art, the beneficial effects of the present invention are:
1. a kind of electric car adaptive cruise control system and method based on car networking of the present invention uses vehicle
Traffic information is transmitted in networking, and this method is different from traditional only means using Driver Vision information as judgement, letter
The range for ceasing transmission is wider, more for the information of decision；It is carried out with existing by electronic map and Vehicle radar sensor
The mode of traffic information transmitting is compared, due to the information update cost with trailer-mounted radar sensor not in time of electronic navigation system
The undesirable disadvantage of the excessively high acquisition effect for leading to traffic information is avoided.
2. in a kind of electric car adaptive cruise control system and method based on car networking of the present invention, vehicle
Adaptive cruise control system is designed towards electric car, regeneration brake system and battery for electric car etc. and biography
The different component of system fuel-engined vehicle accounts for, and can effectively save on the basis of considering driver's driver comfort electronic
Automobile energy consumption.
3. needing to cooperate with two vehicle of front and back under adaptive cruise Car following model in the module for realizing car networking function
Matching, road device is after completing to the matching of two vehicle of front and back, it is contemplated that the timeliness of information transmission, information transmission later
It is directly carried out between the Vehicular device of two vehicles, road device only serves supervision effect, is eliminated in this way by road device conduct
The step of transfer, can reduce the delay of wireless device information transmission.
4. Car following model needs to be decelerated under the premise of guaranteeing safe distance between vehicles under conditions of this vehicle speed is greater than front truck
Two vehicle speeds are identical, electric automobile energy recovering effect considered in this stage, while considering the real-time change of front truck speed
Change, the Dynamic Programming strategy of formulation real-time update and can follow the variation of front truck speed.
5. whether changing based on adaptive cruise strategy with spacing value L of the vehicle from this vehicle can recently in front of lane
According to the speed of Ben Che and front truck, acceleration and location information etc. carry out in car networking environment online after determining follow the bus strategy
It updates.
6. in a kind of electric car adaptive cruise control system and method based on car networking of the present invention, road
Device is connected with cloud server, therefore can carry out real-time update to the road information of the external radio broadcasting of road device.
Detailed description of the invention
Fig. 1 is that a kind of electric car adaptive cruise control system and method based on car networking of the present invention are automobile-used
Device and road device composed structure and the schematic block diagram connecting between each other；
Fig. 2 be in a kind of electric car adaptive cruise control system and method based on car networking of the present invention from
Adapt to cruise control strategic process block diagram；
Fig. 3 is a kind of electric car adaptive cruise control system and method follow the bus based on car networking of the present invention
Regenerative braking deceleration strategies flow diagram when this vehicle speed is greater than front truck speed in mode；
Fig. 4 is that a kind of electric car adaptive cruise control system and method based on car networking of the present invention are specific
The system connection relationship block diagram of scene described in embodiment 1 in embodiment；
Fig. 5 is that a kind of electric car adaptive cruise control system and method based on car networking of the present invention are specific
The schematic diagram of scene described in embodiment 1 in embodiment.
Specific embodiment
Technical solution in order to further illustrate the present invention, in conjunction with Figure of description, a specific embodiment of the invention is such as
Under:
[embodiment 1]
Electric car adaptive cruise process regenerative brake control system based on car networking as shown in Figure 4,1 He of vehicle
Vehicle 2 carries out adaptive cruise traveling on road, and the cruise mode being originally under adaptive cruise, two vehicles
It is travelled on same lane, vehicle 2 is preceding, and vehicle 1 is rear.In scene as shown in Figure 5, what top indicated is that same lane exists
There are front truck (vehicle 2) at L in front of this vehicle (vehicle 1), and the speed v of front truck2Greater than the speed v of rear car1, i.e. v2>
v1。
It is placed with Vehicular device 110 on vehicle 1, is placed with Vehicular device 120 on vehicle 2, first on Vehicular device 110
Master control borad 111 is respectively with camera module 113, and the first XBee module 112, GPS module 114, CAN bus and electric car are adaptive
Answer cruise control 310 to be connected, the first master control borad 121 on Vehicular device 120 respectively with camera module 123, the first XBee
Module 122, GPS module 124, CAN bus are connected with electric car adaptive learning algorithms device 320, and the CAN bus on two vehicles is just
Often work, the controller of the braking system and drive system on 310 chassis of electric car adaptive learning algorithms device on vehicle 1
It is connected, the GPS module 114 on Vehicular device 110 sends location information, camera module 113 to first to the first master control borad 111
Master control borad 111 sends the running car road information of shooting, thus judges the lane of automobile current driving, the CAN on vehicle 1
Bus sends the current speed of electric car to the first master control borad 111, and battery status information, the information such as pedal opening, first is main
After controlling these information of the acquisition of plate 111, it is sent to the 2nd XBee on road device 210 by the first XBee module 112
Module 212；The first XBee module 112 sends the information that received extraneous transmission comes to the first master control borad 111 simultaneously, for
The information that extraneous transmission comes for this example is the road speed limit that the 2nd XBee module 212 is sent in road device 210, the letter such as gradient
Cease the speed that the first XBee module is sent in the Vehicular device with other vehicles, the relevant information etc. in CAN bus.
Road device 210 is arranged in roadside, and the second master control borad 211 thereon is connected with cloud server, cloud server
The speed-limiting messages on present road are sent to the second master control borad 211, speed-limiting messages are passed through the 2nd XBee mould by the second master control borad 211
Block 212 sends the first XBee module 112 in the Vehicular device 110 on vehicular traffic 1, meanwhile, the 2nd XBee module 212 receives
The vehicle-related information that the first XBee module 112 is sent in Vehicular device 110 on vehicular traffic 1 is stored in the second master control borad
In 211.Road device 220 be arranged in roadside, the second master control borad 221 thereon is connected with cloud server, cloud server to
Second master control borad 221 sends the speed-limiting messages on present road, and speed-limiting messages are passed through the 2nd XBee module by the second master control borad 221
The first XBee module 122 on 222 pairs of vehicular traffics 2 on Vehicular device 120 is sent, meanwhile, the 2nd XBee module 222 received
The vehicle-related information that the oneth XBee module 122 is sent into Vehicular device 120 on vehicle 2, there are the second master control borads 221
In.Second master control borad 211 and the second master control borad 221 can send the information of vehicles of storage to cloud server, and pass through cloud
Second master control borad of end server and other road devices shares these information.
The connection relationship of system as shown in figure 4, vehicle 1 and vehicle 2 have all been equipped with the electric car of the Vehicular device,
Vehicle 1 is equipped with Vehicular device 110, and vehicle 2 is equipped with Vehicular device 120, and all under the cruise mode of adaptive cruise,
The cruise speed of vehicle 2 is less than the cruise speed of vehicle 1, and two vehicles all travel on same lane, and vehicle 1 is due to speed
Degree is faster than vehicle 2, therefore moves closer to vehicle 2.A certain moment road device 210 passes through with the Vehicular device 110 on vehicle 1
ZigBee wireless communication mode, which is established, to be wirelessly connected, the Vehicular device 120 on road device 220 and vehicle 2 by ZigBee without
Line communication modes, which are established, to be wirelessly connected, and road device 210 and 220 is due to first in real-time reception Vehicular device 110 and 120
The vehicle position information and traveling lane information that XBee module 112 and 122 is sent, and the two road devices pass through cloud
Server realizes information sharing in car networking environment, therefore can obtain the distance between vehicle 1 and vehicle 2, and judge
Two vehicles traveling is on same lane out.The second master control when distance between two vehicles is reduced into certain value, on road device 210
Plate 211 controls first XBee module 112 of the 2nd XBee module 212 on vehicle 1 on Vehicular device 110 and issues signal, informs
The identifier of vehicle 2；The second master control borad 221 on road device 220 controls the 2nd XBee module 222 automobile-used dress on vehicle 2
The first XBee module 122 for setting 120 issues signal, informs that the identifier of vehicle 1, the Vehicular device on vehicle 1 and vehicle 2 obtain
After the identifier of opponent vehicle, the first XBee module 112 and 122 on two cars realizes the vehicle for matching and transmitting mutually oneself
Speed and location information.2 speed of vehicle is smaller at this time, and vehicle 2 continues to keep cruise mode constant, and the electronic vapour of vehicle 1
Vehicle adaptive learning algorithms device 310 controls the driving of vehicle 1 and braking system enters adaptive cruise Car following model, and according to
Flow chart 2 and process shown in Fig. 3, it is contemplated that the driver comfort of driver sets the limiting value of deceleration.If front truck at this time
Speed continues to reduce, and since this vehicle can persistently receive the speed signal that front truck is sent, preceding vehicle speed is every to reduce one admittedly
Certainty ratio, this vehicle braking process enter next step, and counter is followed from 1, while the state variable of one deuterzooid vehicle of update is increased
The actual speed of front truck makes the instruction of control braking, all guarantees that Brake energy recovery efficiency is best during each step.This
The process of sample continues to that two vehicle speeds are consistent, and at this moment the distance between two vehicles are safe distance between vehicles s, adds braking process sheet
The distance d that garage crosses obtains new L value, completes to remind switching this shape of adaptive cruise mode when distance between two vehicles is L
The update of L value in state.
Claims (9)
1. a kind of electric car adaptive cruise control system based on car networking characterized by comprising
Car networking Vehicular device, is set to inside electric car, can be by the license plate number of vehicle, speed, position, battery charge
The information such as state are read out, and pass through the overseas broadcast of ZigBee home control network communication protocol；
Car networking road device is set to road trackside, road speed limit, the information such as gradient can be passed through ZigBee channel radio
Interrogate agreement overseas broadcast；
Electric car adaptive learning algorithms device, is set to inside electric car, connect with car networking Vehicular device, Neng Goujie
It returns the vehicle to the garage and knock off and networks information that Vehicular device is obtained from the external world and control the adaptive cruise function of electric car.
2. a kind of electric car adaptive cruise control system based on car networking as described in claim 1, which is characterized in that
The car networking Vehicular device includes:
First master control borad is connected with electric car adaptive learning algorithms device by wired mode, total with the CAN of electric vehicle
Line is connected by wired mode；
First XBee module is connected with the first master control borad by wired mode, can be read and be needed on the first master control borad externally
The information of transmission and by the ZigBee wireless communication protocol overseas broadcast based on IEEE 802.15.4 standard, while can connect
Receive the extraneous information sent by same wireless communication protocol；
Camera module is connect with the first master control borad by wired mode, and shooting obtains the lane that vehicle is currently travelled, the
The judgement of one master control borad obtains the lane of current vehicle traveling；
GPS module is connect by wired mode with the first master control borad, obtains the location information of current vehicle, and transmitted
Into the first master control borad.
3. a kind of electric car adaptive cruise control system based on car networking as described in claim 1, which is characterized in that
The car networking road device includes:
Second master control borad, by road speed limit, the information such as the gradient are stored in wherein, connect with cloud server, being capable of real-time update
The road informations such as road speed limit；
2nd XBee module is connect by wired mode with second master control borad, can be read in second master control borad
The road information of storage, and by the ZigBee wireless communication protocol overseas broadcast based on IEEE 802.15.4 standard, while energy
Enough to receive the extraneous information sent by same wireless communication protocol, specifically, the 2nd XBee module and the car networking are automobile-used
The first XBee module on device is able to carry out pairing and mode sends mutually information by wireless communication.
4. a kind of electric car adaptive cruise control system based on car networking as described in claim 1, which is characterized in that
Braking system on the electric car adaptive learning algorithms device and electric automobile chassis, the control of drive system and steering system
Device processed is connected, can be adjusted according to the information transmitted in car networking during running car the driving status of electric car with
Mode.
5. a kind of electric car adaptive cruise control system based on car networking described in 2,3 or 4, this is such as claim 1
The control method of system is the electric car adaptive learning algorithms device setting cruise and follow the bus both of which；
The information that car networking Vehicular device described in vehicle is sent on the car networking road device real-time reception road, and to institute
The information that car networking Vehicular device sends other vehicles is stated, when the nearest vehicle in front identical with this vehicle current lane and this vehicle
When distance is greater than the set value L, electric car adaptive learning algorithms device be considered as it is accessible in front of this lane, into cruise
Mode is remained a constant speed traveling with the cruising speed being determined in advance；
It is electronic when being less than or equal to setting value L at a distance from the nearest vehicle in front identical with this vehicle current lane and this vehicle
Automotive self-adaptive cruise control compares the cruising speed v of this vehicle settingcWith the travel speed v of front truckfSize, if vc≤vf,
Illustrate that front truck will not reduce again with this vehicle spacing, cruise mode is still maintained at this time, if vc> vf, switch into follow the bus
Mode, this vehicle decelerate to vc=vfAnd two vehicle distances are reduced to safe distance s simultaneously.
6. a kind of electric car self-adapting cruise control method based on car networking as claimed in claim 5, which is characterized in that
When being less than or equal to setting value L at a distance from the nearest vehicle in front identical with this vehicle current lane and this vehicle, to save letter
Number transmission time, shorten signal transmission delay, the car networking is automobile-used on two vehicles respectively for the car networking road device
Device sends the identification of the vehicle of an other vehicle, then the first XBee module pairs of this two cars and establish wirelessly connect
It connects, in this way from the status information for directly sending itself between two vehicles to other side, the step of saving by road device as transfer, protects
Demonstrate,prove the low latency of signal transmission.
7. a kind of electric car self-adapting cruise control method based on car networking as claimed in claim 5, which is characterized in that
In the Car following model, in this vehicle decelerating phase, the motor system of regenerative braking is determined using Dynamic Programming and optimal control policy
Dynamic process, specific algorithm process are as follows:
(1) initial value of transmission range L, discretization number of states M, maximum regeneration braking deceleration amax, safe distance between vehicles s；
(2) process of regenerative braking enters first step, enables counter k=1, arrives state M to discretization state 1, successively calculates
Corresponding state variableWherein v represents the initial speed under the state, and a represents braking deceleration, and p is represented
The displacement of brake pedal, superscript i represent i-th kind of state of this step, i=1,2 ..., M；
(3) whether the vehicle speed variation rate for detecting front truck is more than then to enter (4) in this way to threshold value, otherwise enters (10)；
(4) counter k increases 1 certainly；
(5) state M is arrived to discretization state 1, successively calculates corresponding state variableWherein v represents the shape
Initial speed under state, a represent braking deceleration, and p represents the displacement of brake pedal, and superscript j represents the jth kind shape of this step
State, j=1,2 ..., M；
(6) it calculates from stateTo stateThe energy that theory is recycled
(7) calculating in (6) is takenMaximum value is ek, return (3)；
(8) N=k is enabled；
(9) this procedural theory recycling ceiling capacity is calculated
(10) k increases 1, N=k, a certainlyk-1=amax, vkEqual to front truck speed；
(11) this vehicle operating range is during this
(12) it enables L=d+s and updates the value of L in (1).
8. a kind of electric car self-adapting cruise control method based on car networking as claimed in claim 5, which is characterized in that
The distance that vehicle driving is crossed in entire braking process isReach in the objective function for meeting constraint condition
When optimal, the state variable that each step determines in objective function acquisition process determines the distance that automobile is travelled in braking process
D, it is determined whether with spacing value L of the vehicle from this vehicle is set to recently in front of lane based on change adaptive cruise strategy
L=d+s, wherein minimum safe spacing of the s between two vehicles, L can be according to the speed of Ben Che and front truck, acceleration and position letters
Breath etc. carries out online updating after determining follow the bus strategy in car networking environment.
9. a kind of electric car adaptive cruise control system based on car networking as claimed in claim 1 or 3, feature exist
In the car networking road device is connected with cloud server, and cloud server sends information to car networking road device, can be with
Real-time update is carried out to the road information of the external radio broadcasting of road device；In practical applications, there are multiple vehicles in car networking
Second master control borad of networking road device, cloud server and each car networking road device establishes connection and mutually transmission letter
Breath.
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