CN110103959A - A kind of self-adapting cruise control method - Google Patents
A kind of self-adapting cruise control method Download PDFInfo
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- CN110103959A CN110103959A CN201910260332.6A CN201910260332A CN110103959A CN 110103959 A CN110103959 A CN 110103959A CN 201910260332 A CN201910260332 A CN 201910260332A CN 110103959 A CN110103959 A CN 110103959A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The invention discloses a kind of self-adapting cruise control methods, select cruise mode control according to front vehicles information and this vehicle information, comprising the following steps: (1) select cruise mode control according to front vehicles information and this vehicle information；(2) according to cruise mode control, the acceleration value of needs is calculated；(3) it according to the positive and negative of acceleration value, exports as throttle opening or brake pressure.Self-adapting cruise control method of the invention can provide different acceleration according to the state of the object for vehicle emergent in road or other objects, to not only can guarantee good vehicle-following behavior but also can have fine security performance.
Description
Technical field
The present invention relates to Vehicular intelligent driving technology fields, and in particular to a kind of self-adapting cruise control method.
Background technique
Since the nineties in last century, driver assistance system is always the hot spot of automotive field research.
Propose many driver assistance systems for capableing of autonomous cruise both at home and abroad at present.These systems can be in certain journey
Independently driving automobile is travelled on degree, and is maintained at comparatively safe distance, can be had on the good highway of road conditions
Good performance.
But in the prior art, above system does not consider domestic special traffic operating condition, such as jumping a queue in driving process, preceding
The emergent faster passing vehicle in side, slower passing vehicle, the objects such as electric vehicle.Front vehicles speed and distance
Difference is needed using different control models.It should consider safety, take into account comfort again.
Summary of the invention
The purpose of the present invention is being directed to the problems of the prior art, a kind of improved self-adapting cruise control method is provided.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of self-adapting cruise control method selects cruise mode control, packet according to front vehicles information and this vehicle information
Include following steps:
(1) cruise mode control is selected according to front vehicles information and this vehicle information；
(2) according to cruise mode control, the acceleration value of needs is calculated；
(3) it according to the positive and negative of acceleration value, exports as throttle opening or brake pressure.
Preferably, in step (1), cruise mode control is set according to following manner:
If this front side selects cruise mode without driving vehicle, this vehicle；
If there is driving vehicle in this front side, according to circumstances, cruise mode control is selected:
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is greater than safe distance, then this Che Xuan
Select cruise mode；
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is less than safe distance, then this Che Xuan
Select braking mode；
If the front truck speed of this front side vehicle is less than this vehicle speed, and two vehicles distance is greater than safe distance, then this Che Xuan
Select Car following model；
If the front truck speed of this front side vehicle is less than this vehicle speed, and two vehicles distance is less than safe distance, then this Che Xuan
Select braking mode.
Further, the front truck speed according between this vehicle speed and front truck speed speed difference and this vehicle speed obtain
?.
Further, the safe distance is calculated by formula, safe distanceIn formula, SIt is minimumFor
Minimum range between two vehicles is 1~3 meter, tWhen away fromFor headway, vtFor front truck speed.
Further, when this vehicle selects cruise mode, the control target of controller is to keep this vehicle speed and patrol
Airline speed is equal.
Further, controller uses PI controller, the input parameter of controller be cruise speed and this vehicle speed it
Between speed difference, controller export this vehicle traveling acceleration value.
Further, when this vehicle selects braking mode, the control target of controller be make two vehicle distances reach safety away from
From.
Further, according to i.e. by collision time and two vehicle relative distances, calculating exports acceleration value:
When being less than or equal to collision time 0.8 second, acceleration is maximum braking deceleration；
When collision time is greater than 0.8 second and is less than or equal to 1.6 seconds, according to i.e. by collision time value calculating acceleration
Value；
When collision time is greater than 1.6 seconds and is less than or equal to 10 seconds, according to relative distance, relative distance and safe distance
Difference and i.e. by collision time value calculate acceleration value.
Further, when this vehicle selects Car following model, the control target of controller is so that this vehicle speed is equal to front truck
Speed, two vehicles distance are equal to safe distance.
Further, weighting of the controller for speed by PID controller and apart from PID controller, speed by PID controller
The speed difference between this vehicle speed and front truck speed is inputted, the input apart from PID controller is two vehicles distance and safe distance
Between difference, controller export this vehicle traveling acceleration value.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: of the invention is adaptive
Answer cruise control method that can provide not vehicle emergent in road or other objects according to the state of the object
Same acceleration, to not only can guarantee good vehicle-following behavior but also can have fine security performance.
Specific embodiment
Technical solution of the present invention is further elaborated below.
Self-adapting cruise control method of the invention specifically comprises the following steps:
(1) cruise mode control is selected according to front vehicles information and this vehicle information
Safe distance is calculated according to the information of the front vehicles of acquisition, this vehicle information, coefficient of road adhesion first, selection is patrolled
Boat control model.
Front vehicles information is obtained from radar, this vehicle information is obtained by the sensor being mounted on this vehicle.Specific radar
Obtained front vehicles information include front vehicles away from the distance between this vehicle i.e. two vehicles distance, front truck speed and this vehicle speed it
Between speed difference.This vehicle information that sensor obtains includes this vehicle speed and coefficient of road adhesion.
Wherein two vehicle range informations need to be filtered, and two vehicle range informations of first sampling are without processing.According to two
The difference of vehicle relative velocity carries out different weighted filtering processing.
Safe distance is calculated according to front truck speed, coefficient of road adhesion, calculation formula are as follows:
In formula,For safe distance；SIt is minimumFor the minimum range between two vehicles, it is usually set to 1~3 meter；tWhen away fromWhen for workshop
Away from related to coefficient of road adhesion；vtFor front truck speed.
Under original state, automobile default choice is cruise mode.
When radar detection to this front side is without driving vehicle, then this vehicle selects cruise mode；
When radar detection has driving vehicle to this front side, then according to different situations, cruise mode control is selected:
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is greater than safe distance, then this Che Xuan
Select cruise mode；
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is less than safe distance, then this Che Xuan
Select braking mode；
If the front truck speed of this front side vehicle is less than this vehicle speed, and two vehicles distance is greater than safe distance, then this Che Xuan
Select Car following model；
If the front truck speed of this front side vehicle is less than this vehicle speed, and two vehicles distance is less than safe distance, then this Che Xuan
Select braking mode.
(2) according to cruise mode control, the acceleration value needed under each cruise mode is calculated；
The control target of cruise mode is to maintain this vehicle speed as cruise speed.Cruise speed is set by driver,
If driver does not set, speed of cruising is system default speed.Default speed changes according to the difference of road.Road
Different and traffic sign speed limit is provided by high-precision map system or vehicle sensory perceptual system part.Control under the cruise mode
Device is a PI controller, is inputted as speed difference, and speed difference subtracts this vehicle speed by cruise speed and obtains, and the output of controller is
Acceleration value.Con trolling index is that the steady-state error of step response is zero, and overshoot is less than 1%, and regulating time is according to cruising speed
Difference and it is different.When cruising speed is less than 30km/h, regulating time was less than 3 seconds, when cruising speed is less than 60km/h, when adjusting
Between less than 8 seconds, cruising speed be less than 100km/h when, regulating time was less than 15 seconds.
Control target under Car following model is so that this vehicle speed is equal to front truck speed, and two vehicles distance is equal to safe distance.
Controller is speed by PID controller and the weighting apart from PID controller under the mode.The input of speed by PID controller is speed
Difference, difference of the speed difference between this vehicle speed and front truck speed herein, the input of distance PID are range difference, herein away from
Difference of the deviation between the actual range and safe distance between two vehicles.The output of controller is acceleration value.Control target
Steady-state error for step response is zero, and overshoot is less than 1%, and regulating time was less than 20 seconds.
Acceleration value under Car following model calculates according to the following formula:
In formula, a is acceleration, unit m/s2；
evFor speed difference, unit m/s, ev=vh-vt,vhFor this vehicle speed, vtFor front truck speed；
edFor range difference, unit m,dsFor two vehicle distances,For safe distance；
λ1And λ2For forgetting factor；
kp,kd,ki1,ki2Respectively proportionality coefficient, differential coefficient, integral coefficient 1 and integral coefficient 2；
kp,kd,ki1,ki2, λ1And λ2It is measured by real train test matching.
The control target of braking mode is so that two vehicle distances reach safe distance.When braking deceleration is according to that will collide
Between TTC value difference and change.It is specific as follows:
If acceleration is maximum braking deceleration i.e. by collision time TTC less than 0.8 second.
If being greater than collision time TTC 0.8 second, it is less than or equal to 1.6 seconds, according to can calculating collision time TTC value
Acceleration value out.Specific formula for calculation are as follows:
A=3+5* (1.6-TTC).
If being greater than collision time TTC 1.6 seconds, it is less than or equal to 10 seconds, according to safe distance value, i.e., by collision time
TTC value can calculate deceleration value.Specific formula for calculation are as follows:
Particularly, the object for being stationary object for front or slowly moving, i.e. vtWhen≤2m/s, in braking process
Deceleration-based controller amount cannot be less than the value in a control period, i.e., brake pressure only increases in braking process, until this vehicle
Stop completely.
During entire cruise, threshold restriction is carried out to acceleration and deceleration respectively.In accelerator, the limit value of deceleration is
2m/s2, the change rate limit value of acceleration is 0.4 (m/s2)/s.When being by collision time TTC > 6 second, the limit value of deceleration is
2m/s2, when i.e. by collision time TTC < 6 second, deceleration not limit value, the value of deceleration is by automotive performance and road surface at this time
Limitation, the change rate limit value of deceleration are 5 (m/s2)/s。
(3) it according to the positive and negative of acceleration, exports as throttle opening or brake pressure.
When acceleration is positive value, according to the acceleration resistance of automobile, gradient resistance, air drag, rolling resistance and driving
Power can calculate the power of engine and the output torque of engine.Further according to the revolving speed of engine, in conjunction with the torsion of engine
Square, being tabled look-up by the MAP chart of engine can be obtained the aperture of air throttle.
When acceleration is negative value, according to the pressure transitive relation of master cylinder and wheel cylinder, braking effectiveness factor, tire radius,
Complete vehicle quality can be in the hope of the relationship of master cylinder pressure and acceleration, and then acquires required master cylinder pressure.
In conclusion front truck information of the self-adapting cruise control method of the present invention according to acquisition, this vehicle information, road surface attachment
Coefficient calculates safe distance, selects cruise mode control.Calculate the acceleration of needs according to cruise mode control, and according to adding
The value of speed calculates corresponding throttle opening and brake pressure.The algorithm for vehicle emergent in road or its
He can provide different acceleration according to the state of the object by object, not only can guarantee good vehicle-following behavior but also can have very
Good security performance.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand the contents of the present invention and be implemented, and it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of self-adapting cruise control method, it is characterised in that: according to front vehicles information and the selection cruise control of this vehicle information
Molding formula, comprising the following steps:
(1) cruise mode control is selected according to front vehicles information and this vehicle information；
(2) according to cruise mode control, the acceleration value of needs is calculated；
(3) it according to the positive and negative of acceleration value, exports as throttle opening or brake pressure.
2. self-adapting cruise control method according to claim 1, it is characterised in that: in step (1), cruise mode control
It is set according to following manner:
If this front side selects cruise mode without driving vehicle, this vehicle；
If there is driving vehicle in this front side, according to circumstances, cruise mode control is selected:
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is greater than safe distance, then the selection of this vehicle is fixed
Fast cruise mode；
If the front truck speed of this front side vehicle is greater than this vehicle speed, and two vehicles distance is less than safe distance, then this vehicle selection system
Dynamic model formula；
If the front truck speed of this front side vehicle be less than this vehicle speed, and two vehicles distance be greater than safe distance, then this vehicle selection with
Vehicle mode；
If the front truck speed of this front side vehicle is less than this vehicle speed, and two vehicles distance is less than safe distance, then this vehicle selection system
Dynamic model formula.
3. self-adapting cruise control method according to claim 2, it is characterised in that: the front truck speed is according to Ben Cheche
Speed difference and this vehicle speed between speed and front truck speed obtain.
4. self-adapting cruise control method according to claim 2, it is characterised in that: the safe distance passes through formula meter
It calculates, safe distanceIn formula, SIt is minimumIt is 1~3 meter for the minimum range between two vehicles, tWhen away fromWhen for workshop
Away from vtFor front truck speed.
5. self-adapting cruise control method according to claim 2, it is characterised in that: when this vehicle selects cruise mode
When, the control target of controller is to keep this vehicle speed equal with cruise speed.
6. self-adapting cruise control method according to claim 5, it is characterised in that: controller uses PI controller, control
The input parameter of device processed is the speed difference to cruise between speed and this vehicle speed, and controller exports the acceleration value of this vehicle traveling.
7. self-adapting cruise control method according to claim 2, it is characterised in that: when this vehicle selects braking mode,
The control target of controller is that two vehicle distances is made to reach safe distance.
8. self-adapting cruise control method according to claim 7, it is characterised in that: according to i.e. by collision time and two vehicles
Relative distance calculates output acceleration value:
When being less than or equal to collision time 0.8 second, acceleration is maximum braking deceleration；
When collision time is greater than 0.8 second and is less than or equal to 1.6 seconds, according to i.e. by collision time value calculating acceleration value；
When collision time is greater than 1.6 seconds and is less than or equal to 10 seconds, according to the difference of relative distance, relative distance and safe distance
It is worth and collision time value is calculated into acceleration value.
9. self-adapting cruise control method according to claim 2, it is characterised in that: when this vehicle selects Car following model,
The control target of controller is so that this vehicle speed is equal to front truck speed, and two vehicles distance is equal to safe distance.
10. self-adapting cruise control method according to claim 9, it is characterised in that: controller is speed by PID controller
With the weighting apart from PID controller, speed difference of the input of speed by PID controller between this vehicle speed and front truck speed, away from
Input from PID controller is the difference with a distance from two vehicles between safe distance, and controller exports the acceleration value of this vehicle traveling.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758391A (en) * | 2019-10-17 | 2020-02-07 | 中通客车控股股份有限公司 | Control method of self-adaptive cruise ACC system for passenger car |
| CN110920610A (en) * | 2019-12-11 | 2020-03-27 | 东风商用车有限公司 | Automatic driving and car following method |
| CN111572560A (en) * | 2020-05-14 | 2020-08-25 | 安徽江淮汽车集团股份有限公司 | Vehicle longitudinal motion control method, device, equipment and storage medium |
| WO2021093341A1 (en) * | 2019-11-14 | 2021-05-20 | 东风商用车有限公司 | Speed following control method and system for adaptive cruise control system |
| CN112918484A (en) * | 2021-03-19 | 2021-06-08 | 北京车和家信息技术有限公司 | Vehicle brake system control method and device |
| CN113492855A (en) * | 2021-07-22 | 2021-10-12 | 上汽通用五菱汽车股份有限公司 | Acceleration compensation method and device in car following scene and readable storage medium |
| CN113650612A (en) * | 2021-09-27 | 2021-11-16 | 扬州亚星客车股份有限公司 | Self-adaptive cruise longitudinal control method and device for pure electric bus and electronic equipment |
| CN113879303A (en) * | 2021-10-27 | 2022-01-04 | 江铃汽车股份有限公司 | Adaptive cruise control method and system |
| CN113978463A (en) * | 2021-10-30 | 2022-01-28 | 重庆长安汽车股份有限公司 | Car following method and system for improving economy and storage medium |
| CN115503707A (en) * | 2022-10-26 | 2022-12-23 | 东风商用车有限公司 | Cruise control method and system based on acceleration management and storage medium |
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| CN111572560B (en) * | 2020-05-14 | 2021-06-08 | 安徽江淮汽车集团股份有限公司 | Vehicle longitudinal motion control method, device, equipment and storage medium |
| CN112918484A (en) * | 2021-03-19 | 2021-06-08 | 北京车和家信息技术有限公司 | Vehicle brake system control method and device |
| CN113492855A (en) * | 2021-07-22 | 2021-10-12 | 上汽通用五菱汽车股份有限公司 | Acceleration compensation method and device in car following scene and readable storage medium |
| CN113650612A (en) * | 2021-09-27 | 2021-11-16 | 扬州亚星客车股份有限公司 | Self-adaptive cruise longitudinal control method and device for pure electric bus and electronic equipment |
| CN113650612B (en) * | 2021-09-27 | 2023-03-10 | 扬州亚星客车股份有限公司 | Self-adaptive cruise longitudinal control method and device for pure electric bus and electronic equipment |
| CN113879303A (en) * | 2021-10-27 | 2022-01-04 | 江铃汽车股份有限公司 | Adaptive cruise control method and system |
| CN113978463A (en) * | 2021-10-30 | 2022-01-28 | 重庆长安汽车股份有限公司 | Car following method and system for improving economy and storage medium |
| CN115503707A (en) * | 2022-10-26 | 2022-12-23 | 东风商用车有限公司 | Cruise control method and system based on acceleration management and storage medium |
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