CN109532835A - The excessively curved longitudinal method for controlling driving speed of self-adaption cruise system, device and computer readable storage medium - Google Patents
The excessively curved longitudinal method for controlling driving speed of self-adaption cruise system, device and computer readable storage medium Download PDFInfo
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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
- B60W30/143—Speed control
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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
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- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- 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
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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
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- 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
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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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention discloses a kind of excessively curved longitudinal method for controlling driving speed of self-adaption cruise system, device and computer readable storage mediums, it include: that the front truck tracked in response to this vehicle is always held at this vehicle within sweep of the eye, then control the preceding vehicle speed of excessively curved vehicle velocity V=Min(tracking of this vehicle, bend speed limit value, this vehicle setting cruise speed)；It disappears in response to the front truck of this vehicle tracking and unidentified to new follow the bus target, then this vehicle instantaneous velocity when controlling excessively curved vehicle velocity V=Min(front truck disappearance of this vehicle, bend speed limit value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed)；It disappears in response to the front truck of this vehicle tracking and recognizes new follow the bus target, this vehicle instantaneous velocity when then controlling excessively curved vehicle velocity V=Min(front truck disappearance of this vehicle, bend speed limit value are newly identified as follow the bus target vehicle speed value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed).The present invention can be improved safety, comfort and rapidity of the self-adaption cruise system during excessively curved.
Description
Technical field
The invention belongs to automobile active safety system technical fields, and in particular to a kind of excessively curved longitudinal direction of self-adaption cruise system
Method for controlling driving speed, device and computer readable storage medium.
Background technique
With the development of vehicle intellectualized technology, people increasingly pay close attention to comfort and the safety of car steering, in turn
The intelligent travelling crane technology of generation increasingly becomes the main direction of development of automobile industry.Intelligent travelling crane technology mainly uses specifically
Technology (including sensor technology, signal processing technology, the communication technology, computer technology) recognizes environment and shape locating for vehicle
State receives and handles each sensor information, and makes analysis and judgement, promoted driver comfort, reduce driving procedure in because
The danger that certain emergency situations occur.
Important component of the adaptive cruise control system (hereinafter referred to as " ACC ") as intelligent travelling crane system be
Upgrading to traditional constant-speed-cruise control system, the system can make vehicle keep the speed of driver's setting (hereinafter referred to as
" desired speed "), can also Shi Ben Che and front truck keep the time gap (hereinafter referred to as " headway ") of driver's setting with
With front truck target travel, and adaptively carry out feed speed control.Currently, self-adaption cruise system regulation speed extend to from
The 0 entire vehicle speed range started.
Currently, one is single radar scheme optimized integrations there are two types of the self-adaption cruise system logic control schemes of mainstream
Cruise control logic, another kind is that radar and camera integration program realize the cruise control logic being more precisely controlled.More than
Two kinds of implementations are all that sensor is utilized to carry out target information detection to tracking object, carry out vehicle in conjunction with certain algorithm
Speed control.For expressway and through street straight way follow the bus can play the role of it is good, but be directed to the situation meeting of bend follow the bus
Appearance largely reduces comfortableness and security.Itself the reason is as follows that, bend follow the bus cruise during, front vehicles due to
Turning, in fact it could happen that target lose the case where, at this point, Ben Cheruo it is unidentified arrive new follow the bus target, and driver setting patrol
Speed of a ship or plane degree is bigger, then is likely to occur anxious acceleration situation, this operating condition is in extreme danger in some cases.
Therefore, it is necessary to develop the excessively curved longitudinal method for controlling driving speed of the new self-adaption cruise system of one kind, device and calculating
Machine readable storage medium storing program for executing.
Summary of the invention
The object of the present invention is to provide a kind of excessively curved longitudinal method for controlling driving speed of self-adaption cruise system, device and computers
Readable storage medium storing program for executing, to improve safety, comfort and rapidity of the self-adaption cruise system during excessively curved.
A kind of excessively curved longitudinal method for controlling driving speed of self-adaption cruise system of the present invention, comprising the following steps:
During by bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye；
This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V
=Min (the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；
In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then control
This vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, this vehicle most greater than curved velocity amplitude, this
Vehicle setting cruise speed) excessively curved traveling；
In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control this
Vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value when front truck disappears,
This vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved.
Further, when the front truck of this vehicle tracking is outside the field range of this vehicle, whether there is or not fresh targets in detection side lane；
If not detecting side lane has fresh target, determine front without available follow the bus target；
If detecting side lane has fresh target, get parms dyc, d and θ, in which: dycIt is fresh target relative to vehicle
The offset distance of central axes；D is the actual range of Ben Che and fresh target；θ is deflecting angle of the fresh target relative to vehicle central axes；
And according to parameter dyc, d and θ calculate dy, wherein dyThe geometric locus predicted for this vehicle and the new mesh being actually detected
Lateral deviating distance between mark；
If a fresh target is only detected, by dyIt is compared with threshold value Th, if dy< Th then determines fresh target optional
In fixed follow the bus object range, and as new follow the bus target, if dy>=Th, then determine front without available follow the bus target, i.e.,
It is unidentified to arrive new follow the bus target；
If detecting multiple fresh targets simultaneously, the smallest d is takenyValue is compared with threshold value Th, if dy< Th then determines most
Small dyThe corresponding fresh target of value is new follow the bus target, if dy>=Th then determines that front without available follow the bus target, that is, is known
It is clipped to new follow the bus target.
Further, dyCalculation method it is as follows:
dy=dyv+dyc；
dyc=d*sin θ；
dyv=ky*d2/2；
Wherein, dyvOffset distance for prediction locus relative to vehicle central axes；kyIndicate driving trace curvature.
Further, when front truck disappears, this vehicle instantaneous velocity is greater than this vehicle most greater than curved velocity amplitude, then controls this Che Dangqian
This vehicle instantaneous velocity=this vehicle is most greater than curved velocity amplitude when crossing curved longitudinal acceleration less than or equal to 0, and updating front truck disappearance again.
The excessively curved longitudinal speed controller of a kind of self-adaption cruise system of the present invention, comprising: for detecting this vehicle
Whether in this vehicle, whether lane has fresh target and obtains the vehicle movement of this vehicle the front truck of tracking within sweep of the eye, beside detection
The information Perception unit of relevant information, and receive the information decision unit for the information that information Perception unit is detected；
The information decision unit is programmed to execute the excessively curved longitudinal vehicle of self-adaption cruise system as described in the present invention
The step of speed control method.
A kind of computer readable storage medium of the present invention, the computer-readable recording medium storage have one or
The multiple programs of person, one or more of programs can be executed by one or more processor, as described herein to realize
Self-adaption cruise system excessively curved longitudinal method for controlling driving speed the step of.
The invention has the following advantages that if front truck disappears in the sight of this vehicle, and side lane has during excessively curved
When meeting the vehicle of follow the bus target, new follow the bus target can be quickly recognized；It control effectively simultaneously to excessively curved speed, energy
It is enough effectively to avoid then going out because target loss, the unidentified cruising speed set to new follow the bus target, driver are bigger
Now anxious the case where accelerating, therefore the excessively curved performance of self-adaption cruise system is improved, it ensure that safety during excessively curved, relax
Adaptive and rapidity.
Detailed description of the invention
Fig. 1 is ACC system structural schematic diagram of the invention；
Fig. 2 is main flow chart of the invention；
Fig. 3 is the principle of the present invention block diagram；
Fig. 4 is bend tracking object decision flowchart of the invention；
Fig. 5 is that follow the bus of the invention crosses bend schematic diagram of a scenario；
Fig. 6 is longitudinally controlled flow chart of the invention；
Fig. 7 is crosswise joint figure of the invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in fig. 6, a kind of excessively curved longitudinal method for controlling driving speed of self-adaption cruise system of the present invention, including it is following
Step:
During by bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye；
This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V
=Min (the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；
In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then control
This vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, this vehicle most greater than curved velocity amplitude, this
Vehicle setting cruise speed) excessively curved traveling；
In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control this
Vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value when front truck disappears,
This vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved.
The excessively curved longitudinal speed controller of a kind of self-adaption cruise system of the present invention, comprising: for detecting this vehicle
Whether in this vehicle, whether lane has fresh target and obtains the vehicle movement of this vehicle the front truck of tracking within sweep of the eye, beside detection
The information Perception unit of relevant information, and receive the information decision unit for the information that information Perception unit is detected；
The information decision unit is programmed to execute the excessively curved longitudinal vehicle of self-adaption cruise system as described in the present invention
The step of speed control method.
As shown in Figure 1, in the present embodiment, self-adaption cruise system includes:
EPBi (Integrated Electric Parking Brake), integrated type electrical parking braking；
SRS (Supplemental Restraint System), air bag system；
TCU (Transmission Control Unit), motion control unit；
EPS (Electronic Power Steering), electric power steering；
HU (Head Unit), vehicle entertainment system base terminal；
BCM (Body Control Module), car body control module；
GW (GateWay), gateway；
LCM (Light Control Module), lamp dimmer；
IP (Instrument Panel), instrument；
LAS (Lane Assistant System), lane auxiliary system；
ACC (Adaptive Cruise Control) adaptive learning algorithms；
EPBi, SRS, TCU, EPS, EMS and ACC are connect with PCAN bus respectively, and ACC is connect with LAS by privately owned CAN,
HU is connect with InfoCAN bus, and BCM, LCM and IP are connect with BCAN bus respectively, and LAS is connect with SafeCAN bus, and PCAN is total
Line, InfoCAN bus, SafeCAN bus and BCAN pass through GW respectively and are communicated.
As shown in Fig. 2, in the present embodiment, information Perception unit includes target acquisition module and information of vehicles monitoring modular,
Wherein, the movement state information and road information that the target acquisition module is used to obtain this vehicle and front truck are (for judging this vehicle
The front truck of tracking whether this vehicle within sweep of the eye, and judge side lane whether have fresh target), information of vehicles monitoring modular
For obtaining the vehicle movement relevant information of this vehicle.In the present embodiment, information Perception unit further includes course changing control monitoring modular,
For obtaining whether this vehicle steering wheel has steering angle information, it is mainly used for the excessively curved control laterally turned to.
The information decision unit determines the expectation acceleration of this vehicle, expectation according to information Perception unit information obtained
Speed and torque information.Here information decision is primarily referred to as central processing unit, and the central processing unit in the present embodiment is to utilize
Existing sensor central processing unit carries out transverse and longitudinal control on vehicle.During longitudinally controlled, central processing unit is
Radar control processor (i.e. R-ECU), in crosswise joint, central processing unit be forward sight camera control processor (i.e.
V-ECU)。
In the present embodiment, information execution unit is further related to comprising speed controls execution module and course changing control executes mould
Block, expectation acceleration, desired speed and torque information based on the output of information decision unit executed curved longitudinal and excessively curved transverse direction
Control.Information execution refers to that executing agency will obtain expectation acceleration, desired speed, torque by the reverse kinetic model of automobile
The information such as information are converted into the executable value of this vehicle and export to the execution unit of interconnected system.Wherein execution unit (generally vehicle
Speed control, course changing control and alarm module, such as integrated type electrical parking braking, electric boosting steering system, engine management system
System, instrument etc.) do respectively laterally it is longitudinally controlled.
In the present embodiment, the target acquisition module include forward sight camera front end detecting module (i.e. V-detector) and
Radar front end detecting module (i.e. R-detector).
Wherein, the radar front end detecting module is used to detect follow the bus target in front of this lane and adjacent lane, and
Corresponding effective target object is pre-processed, corresponding target object pretreatment information is sent to radar control processing
Device；Radar control processor determines whether detected object (i.e. fresh target) is that available effective target tracks according to certain algorithm
Object (i.e. new tracking object), and store the corresponding information of vehicles numerical value of the detected object (including opposite fore-and-aft distance, transverse direction
Distance, relative velocity etc.).
Forward sight camera front end detecting module for identification believe by this front side target type, lateral distance, lane line
Breath, this spacing lane line lateral distance, this vehicle driving process bend curvature, bend speed limitation board information, meanwhile, by knot identified above
Fruit is pre-processed, and corresponding target object pretreatment information is exported camera control processor in real time.
In the present embodiment, the information of vehicles monitoring modular is integrated type electrical parking braking, is used for real-time detection vehicle
Current driving status numerical value, for providing the current instantaneous velocity of this vehicle, this vehicle acceleration, yaw rate, wheel speed information.
In the present embodiment, the course changing control monitoring modular is steering wheel hand torque sensor, is used for real-time monitoring direction
Disk manipulates state, and outbound course disk manipulation information gives camera control processor, actively connects for determining whether driver has
Pipe steering wheel does course changing control.
In the present embodiment, radar control processor is located inside radar assembly, mainly carries out to the excessively curved longitudinal speed of vehicle
Control guarantees do not occur uncomfortable anxious acceleration, the bend information detected including reception forward sight camera front end detecting module,
Lane line information, follow the bus target information, bend speed limit value, vehicle real-time speed, the acceleration, yaw rate of EPBi input,
The follow the bus target information that its comprehensive internal radar front end detecting module detects, calculates appropriate excessively curved speed.Camera control
Processor processed is located inside camera shooting assembly, mainly carries out control to the excessively curved lateral torsion of vehicle and guarantees the suitable comfortable mistake of torque
Bend information, lane line information, follow the bus target information, bend speed limit value curved, detect including receiving camera, receive first
Driver's steering wheel hand moment information determine driver whether adapter tube steering wheel, it is determined whether intervention crosswise joint.Then, in conjunction with
Radar control processor calculates the excessively curved velocity amplitude in longitudinal direction of output, determines whether the velocity amplitude is more than that this vehicle as defined in system is maximum
Cross curved velocity amplitude, it is determined whether intervention crosswise joint.If conditions above display system can intervene crosswise joint, there is camera
Control processor, which calculates a suitable laterally excessively curved torque value and exports electron servo steering system, executes Servo Control.
As shown in figure 3, a kind of method that control promotes self-adaption cruise system bend performance is further related in the present embodiment,
The following steps are included:
Bend determines:
Utilize forward sight camera front end detecting module detection lane information (including lane line and follow the bus target information, bend
Curvature, roadside speed limit signboard, from spacing lane line distance etc. information), and export to camera control processor and radar before
Detecting module is held, determines whether current vehicle has entered bend by camera control processor, and will determine that result is exported to thunder
Up to front end detecting module；
Target acquisition and screening:
During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicle
The front truck of tracking is always held at this vehicle within sweep of the eye, then radar control processor determines that this vehicle does not switch front follow the bus mesh
Mark；
During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicle
The front truck of tracking disappears in this vehicle within sweep of the eye, and radar front end detecting module and the detection of forward sight camera front end detecting module
To side lane without new traceable target vehicle, then radar control processor determines front without available follow the bus target；
During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicle
The front truck of tracking disappears in this vehicle within sweep of the eye, and being detected simultaneously by side lane has new vehicle that may invade as this vehicle
The fresh target of tracking, then radar control processor determines whether fresh target can be used as new tracking object；If fresh target is optional
In fixed follow the bus object range, then using fresh target as new follow the bus target；If fresh target is not in the follow the bus object model that can be selected
In enclosing, then radar control processor determines front without available follow the bus target；
As shown in Figure 4 and Figure 5, in the present embodiment, radar control processor determines whether fresh target can be used as new follow the bus
Mesh calibration method is as follows:
The path deviation d with prediction object is calculated firsty:
dy=dyv+dyc(formula one)；
dyc=d*sin θ (formula two)；
dyv=ky*d2/ 2 (formula three)；
It can be obtained by formula (one) to formula (three): dy=ky*d2/2+d*sinθ。
Wherein, dyvOffset distance for prediction locus relative to vehicle central axes；dycIt is fresh target relative to vehicle axis
The offset distance of line；It is detected by forward sight camera front end detecting module；D is the actual range of Ben Che and fresh target, before radar
Hold detecting module detection；θ is deflecting angle of the fresh target relative to vehicle central axes, is examined by forward sight camera front end detecting module
It surveys, kyIt indicates driving trace curvature (i.e. ratio of the yaw-rate relative to current driving speed)；A is the geometric locus of prediction；B is
Vehicle central axes；dyFor the path deviation with prediction object, (its value characterizes route that this vehicle predicts and is actually detected
Lateral deviating distance between object).
Then it is compared, if a fresh target is only detected, by dyIt (is demarcated according to many experiments with threshold value Th
To) be compared, if dy< Th, it is determined that fresh target is in the follow the bus object range that can be selected, and as new follow the bus target,
If dy>=Th, then radar control processor determines front without available follow the bus target；If detecting multiple fresh targets simultaneously, take
The smallest dyValue is compared with threshold value Th, if dy< Th, it is determined that the smallest dyThe corresponding fresh target of value is new follow the bus mesh
Mark, if dy>=Th, then radar control processor determines front without available follow the bus target.
Cross curved longitudinal speed control:
If camera control processor detects that driver has the movement of adapter tube steering wheel, camera control processor determines
It is not involved in system cornering steering control, carried out curved longitudinal speed control according to this vehicle by radar control processor；Specifically:
During by bend, if radar front end detecting module monitors that the front truck of this vehicle tracking is always held at this vehicle
Within sweep of the eye, then radar control processor controls this vehicle with excessively curved vehicle velocity V=Min (the preceding vehicle speed of tracking, bend speed limit
Value, this vehicle setting cruise speed) follow the excessively curved traveling of front truck；If cross it is curved during, monitor that the front truck that this vehicle follows disappears, and
Unidentified to arrive new follow the bus target, then radar control processor controls this vehicle with (this vehicle when front truck disappears of curved vehicle velocity V=Min excessively
Instantaneous velocity, bend speed limit value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) excessively curved traveling；If radar front end is visited
It surveys module and detects that front truck disappears, while the confirmation of radar front end detecting module is new follow the bus mesh the vehicle identification in side lane
Mark, then radar front end detecting module controls this vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit when front truck disappears
Value is newly identified as follow the bus target vehicle speed value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) follow new follow the bus mesh
Mark runs over curved.
As shown in Figure 5 and Figure 6, excessively curved longitudinal speed control is illustrated below in conjunction with example, wherein object 1 represents
The front truck (with this parking stall in same lane) of this vehicle tracking, object 2 represent the front truck that Ben Che neighboring trace detects, object 3 represents this
Vehicle.
During passing through bend, when radar control processor determines that this vehicle does not switch front follow the bus target, then this vehicle
Excessively curved vehicle velocity V=Min (V0, V1, V3')；Wherein, V0For bend speed limit value, detected by forward sight camera front end detecting module
To (such as: the speed limit value on speed limitation board), V1For the preceding vehicle speed of tracking, V3' it is this vehicle setting cruise speed.
During passing through bend, when the front truck of this vehicle tracking disappears, and radar control processor determines fresh target can
In selected follow the bus object range, and using fresh target as when new follow the bus target, then the excessively curved vehicle velocity V=Min (V of this vehicle0,
V2,V 3', V3, Vmax)；Wherein, V2Indicate the vehicle speed value of new follow the bus target；V3This vehicle instantaneous velocity when disappearing for front truck；VmaxFor
This vehicle most greater than curved velocity amplitude,Wherein, amaxIt indicates maximum side acceleration, is provided by EPBi；K represents curved
Road curvature is detected by forward sight camera front end detecting module and is provided.
During passing through bend, when radar control processor determines front without available follow the bus target, the mistake of this vehicle
Curved vehicle velocity V=Min (V0,Vmax,V3,V3’)。
In the present embodiment, in order to avoid there is curved anxious acceleration, when front truck disappears, this vehicle instantaneous velocity is greater than this vehicle most
Greater than curved velocity amplitude (i.e. V3> Vmax), then control the current excessively curved longitudinal acceleration a of this vehiclexLess than or equal to 0, and front truck is updated again
This vehicle instantaneous velocity=this vehicle is most greater than curved velocity amplitude (V when disappearance3=Vmax)。
Cornering steering control: as shown in fig. 7, during excessively curved, there is adapter tube to this vehicle driver in response to system detection
Steering wheel movement, then system does not do crosswise joint, only does longitudinally controlled speed limit.It is not adopted in response to system monitoring to this vehicle driver
Take any adapter tube to act, then carried out by radar control processor it is curved longitudinally controlled, and by the excessively curved speed of calculated vehicle
It is sent to camera control processor, camera control processor determines the excessively curved vehicle velocity V whether in excessively curved maximum speed limitation
In range, if excessively curved vehicle velocity V was less than curved maximum speed limitation range, camera control processor according to bend curvature k and
The excessively curved vehicle velocity V of this vehicle calculated curved torque value F and exported electron servo steering system, carried out corresponding course changing control, turned
To distance dis > preset threshold (given threshold can demarcate) of this vehicle apart from lane edge is guaranteed in the process, to guarantee that vehicle begins
Final position is in lane and can passing through bend.
Turn to adapter tube prompt: if camera control processor determined curved speed it is excessively high be more than that curved maximum speed limits
Range, then carry out longitudinally controlled in the limitation range of curved maximum speed excessively, while exporting corresponding prompt information to instrument, prompts
Driver's adapter tube vehicle carries out course changing control.
In the present embodiment, the method for calculating curved torque value F is；
Due to F=b*m*a (formula four)；
A=k*V2(formula five)；
So can be obtained according to formula four and formula five: F=b*m*k*V2；
Wherein, F indicated that curved torque value, b were Environmental Factors (including such as traction, bend lane line)；m
For complete vehicle quality, a indicates that instantaneous acceleration, V are the excessively curved speed of this vehicle, and k represents bend curvature, is visited by forward sight camera front end
Module detection is surveyed to provide.
In the present embodiment, a is calculated by excessively curved speed V and bend curvature k, axFor the longitudinal acceleration of a, ayFor a's
Transverse acceleration.
A kind of computer readable storage medium of the present invention, the computer-readable recording medium storage have one or
The multiple programs of person, one or more of programs can be executed by one or more processor, as described herein to realize
Self-adaption cruise system excessively curved longitudinal method for controlling driving speed the step of.
Claims (6)
1. a kind of excessively curved longitudinal method for controlling driving speed of self-adaption cruise system, it is characterised in that: the following steps are included:
During by bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye；
This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V=Min
(the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；
In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then control this vehicle
With curved vehicle velocity V=Min excessively, (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, most greater than curved velocity amplitude, Ben Che is set this vehicle
Surely cruise speed) excessively curved traveling；
In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control this vehicle with
Crossing curved vehicle velocity V=Min, (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value, this vehicle when front truck disappears
Most greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved.
2. the excessively curved longitudinal method for controlling driving speed of self-adaption cruise system according to claim 1, it is characterised in that: when this vehicle
When the front truck of tracking is outside the field range of this vehicle, whether there is or not fresh targets in detection side lane；
If not detecting side lane has fresh target, determine front without available follow the bus target；
If detecting side lane has fresh target, get parms dyc, d and θ, in which: dycIt is fresh target relative to vehicle axis
The offset distance of line；D is the actual range of Ben Che and fresh target；θ is deflecting angle of the fresh target relative to vehicle central axes；
And according to parameter dyc, d and θ calculate dy, wherein dyFor the prediction of this vehicle geometric locus and the fresh target that is actually detected it
Between lateral deviating distance；
If a fresh target is only detected, by dyIt is compared with threshold value Th, if dy< Th then determines that fresh target can selected
In follow the bus object range, and as new follow the bus target, if dy>=Th then determines that front without available follow the bus target, i.e., is not known
It is clipped to new follow the bus target；
If detecting multiple fresh targets simultaneously, the smallest d is takenyValue is compared with threshold value Th, if dy< Th then determines the smallest
dyThe corresponding fresh target of value is new follow the bus target, if dy>=Th then determines that front without available follow the bus target, that is, recognizes
New follow the bus target.
3. the excessively curved longitudinal method for controlling driving speed of self-adaption cruise system according to claim 2, it is characterised in that: dyMeter
Calculation method is as follows:
dy=dyv+dyc；
dyc=d*sin θ；
dyv=ky*d2/2；
Wherein, dyvOffset distance for prediction locus relative to vehicle central axes；kyIndicate driving trace curvature.
4. the excessively curved longitudinal method for controlling driving speed of self-adaption cruise system according to claim 2, it is characterised in that: work as front truck
This vehicle instantaneous velocity is greater than this vehicle most greater than curved velocity amplitude when disappearance, then controls the current excessively curved longitudinal acceleration of this vehicle and be less than or equal to
0, and this vehicle instantaneous velocity=this vehicle is updated when front truck disappears again most greater than curved velocity amplitude.
5. a kind of excessively curved longitudinal speed controller of self-adaption cruise system, comprising: for detect the tracking of this vehicle front truck whether
This vehicle within sweep of the eye, detection beside lane whether have fresh target and obtain this vehicle vehicle movement relevant information information
Sension unit, and receive the information decision unit for the information that information Perception unit is detected；It is characterized by:
It is excessively curved that the information decision unit is programmed to the self-adaption cruise system executed as described in Claims 1-4 is any
The step of longitudinal method for controlling driving speed.
6. a kind of computer readable storage medium, it is characterised in that: the computer-readable recording medium storage have one or
Multiple programs, one or more of programs can be executed by one or more processor, to realize such as Claims 1-4
Any self-adaption cruise system excessively curved longitudinal method for controlling driving speed the step of.
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