CN112092812A - Method for automatically limiting speed of vehicle ascending slope under adaptive cruise control system - Google Patents
Method for automatically limiting speed of vehicle ascending slope under adaptive cruise control system 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
- B60W30/146—Speed limiting
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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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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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
- B60W40/105—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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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
- B60W2710/08—Electric propulsion units
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The invention provides a method for automatically limiting speed of an uphill vehicle under an adaptive cruise control system, and belongs to the field of intelligent vehicle driving assistance. The method comprises the steps that a sensor module is used for obtaining the gradient of a road where the intelligent vehicle is located, an ACC function control module is used for obtaining the maximum allowable speed of the gradient, and then the real-time running speed of the intelligent vehicle reaching a critical state and the maximum allowable speed are compared; when the real-time running speed is less than or equal to the maximum allowable speed, the vehicle climbs the slope according to the normal speed; when the real-time running speed is larger than the maximum allowable speed, the ACC function control module obtains the deceleration of the intelligent vehicle, controls the motor and the brake pedal and realizes the deceleration of the intelligent vehicle. The present invention ensures climbing safety in consideration of the fact that a vehicle equipped with an ACC control unit may lose following conventional vehicles when reaching the top of a hill.
Description
Technical Field
The invention belongs to the field of intelligent vehicle driving assistance, and particularly relates to a method for automatically limiting speed of a vehicle ascending a slope under an adaptive cruise control system.
Background
Advanced Driver Assistance Systems (ADAS) have become popular in vehicles traveling on urban roads. Among them, Adaptive Cruise Control (ACC) is the most widely used driving assistance system at present. The adaptive cruise control system is an intelligent automatic control system, which is developed on the basis of cruise control technology. During the running process of the vehicle, a vehicle distance sensor (radar) arranged at the front part of the vehicle continuously scans a road in front of the vehicle, meanwhile, a wheel speed sensor collects a vehicle speed signal, when the distance between the ACC control unit and the front vehicle is too small, the ACC control unit coordinates with a brake anti-lock system and an engine control system to brake the wheels properly, the output power of an engine is reduced, and the vehicle and the front vehicle are always kept at a safe distance.
The ACC control unit, when controlling the vehicle braking, normally limits the braking deceleration to a level that does not affect comfort, and when a greater deceleration is required, it sends an audible and visual signal to inform the driver to actively take the braking action. When the distance to the preceding vehicle is increased to a safe distance, the ACC control unit controls the vehicle to travel at a set vehicle speed.
However, when the driver drives the ACC vehicle up a hill following another vehicle, the ACC control unit may lose the target when it reaches the top of the hill, creating a danger because the target is lost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for automatically limiting the speed of a vehicle ascending a slope under a self-adaptive cruise control system, so as to avoid target loss.
The present invention achieves the above-described object by the following technical means.
Method for automatically limiting speed of vehicle ascending slope under adaptive cruise control system and ACC functionThe control module compares the real-time running speed B of the intelligent vehicle reaching the critical state with the maximum allowable speed vmaxIf the real-time running speed B is less than or equal to the maximum allowable speed vmaxIf the real-time running speed B is larger than the maximum allowable speed v, the intelligent vehicle climbs according to the normal speedmaxAnd the ACC function control module calculates the deceleration of the intelligent vehicle and sends the deceleration to the vehicle speed control module, and the vehicle speed control module sends a control instruction to the vehicle control system to realize the deceleration of the intelligent vehicle.
According to the further technical scheme, the maximum allowable speed is obtained by combining the current road gradient obtained by the sensor module and the longitudinal stress of the intelligent vehicle.
According to the further technical scheme, the maximum allowable speed and the gradient meet the following conditions:
wherein FjFor vehicle longitudinal acceleration resistance, FtFor longitudinal driving force of vehicle, FwAs air resistance, FψAs road resistance, FbM is the mass of the whole vehicle,
and
total driving torque and total braking torque of 4 wheels, r is wheel rolling radius, rho is air density, CDIs the coefficient of air resistance, A is the frontal area, frIs a rolling resistance coefficient, is a vehicle rotating mass conversion coefficient, and
Iwiis the moment of inertia of the wheel, ImiIs the rotational inertia of the rotor part of the hub motor.
According to the technical scheme, the sensor module comprises an attitude sensor, a data controller and a CAN data collector, the attitude sensor receives the position of the intelligent vehicle E according to the GPS mobile station, the data controller converts the position data collected by the attitude sensor into CAN data and sends the CAN data to the CAN data collector, and the CAN data collector analyzes the position of the intelligent vehicle to obtain the real-time three-dimensional position coordinates of the intelligent vehicle in the driving process, so that the gradient of the road where the intelligent vehicle is located is obtained.
According to a further technical scheme, the ACC function control module calculates the deceleration of the intelligent vehicle, and specifically comprises the following steps:
wherein a is deceleration, x is intelligent vehicle displacement, v is intelligent vehicle real-time running speed, tiRefers to a certain moment in the process of climbing the intelligent vehicle.
According to the further technical scheme, the deceleration of the intelligent vehicle is sent to the vehicle speed control module through the communication module and the vehicle CAN network.
An intelligent driving assistance system comprises vehicle-mounted intelligent equipment and a vehicle body control unit, wherein the vehicle-mounted intelligent equipment comprises a sensor module and a millimeter wave radar module, the millimeter wave radar module comprises a power supply module, an antenna module, an ACC (adaptive cruise control) function control module and a communication module, and the ACC function control module acquires the real-time driving speed B of an intelligent vehicle reaching a critical state according to reflected electromagnetic wave information received by the antenna module; the ACC function control module simultaneously receives the road gradient output by the CAN data acquisition unit and acquires the maximum allowable speed vmax(ii) a The ACC function control module compares the real-time running speed B with a maximum allowable speed vmaxThe speed of the safe climbing is determined.
In the technical scheme, the vehicle body control unit comprises a vehicle CAN network and a vehicle speed control module, and the vehicle CAN network interacts information sent by the communication module and sends the information to the vehicle speed control module.
The invention has the beneficial effects that:
the method comprises the steps of obtaining the gradient of a road by utilizing a sensor module when a vehicle provided with an ACC control unit reaches the top of a slope, obtaining the maximum allowable speed of the gradient by utilizing an ACC function control module, comparing the real-time running speed of the intelligent vehicle reaching a critical state with the maximum allowable speed, obtaining the deceleration of the intelligent vehicle by utilizing the ACC function control module when the real-time running speed is greater than the maximum allowable speed, sending a control instruction to a motor and a brake pedal in a vehicle control system by utilizing the vehicle speed control module, adjusting the intelligent vehicle to decelerate in time and ensuring the safety of climbing.
Drawings
FIG. 1 is a schematic diagram of an application scenario of the method for automatically limiting speed of a vehicle ascending a slope according to the invention;
FIG. 2 is a schematic view of an intelligent driving assistance system according to the present invention;
FIG. 3 is a flow chart of a method for automatically limiting speed of a vehicle ascending a slope according to the invention;
in the figure: the system comprises an antenna module 1, an ACC function control module 2, a communication module 3, a power supply module 4, an attitude sensor 5, a data controller 6, a CAN data collector 7, a CAN network 8 and a vehicle speed control module 9.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, taking a conventional vehicle F and an intelligent vehicle E (a vehicle in which an ACC control unit is installed) as an example, a scene when the intelligent vehicle E arrives on an uphill slope following the conventional vehicle F is shown. The relevant quantities involved in the process of the invention are now described as follows:
(1) orientation relation: from left to right are: the intelligent vehicle E (fig. 1 shows that when the intelligent car E runs uphill along with the conventional vehicle F, the millimeter wave radar module R cannot detect the front vehicle and loses the critical position of the target) and the conventional vehicle F.
(2) Vehicle-mounted equipment: the intelligent vehicle E is provided with a millimeter wave radar module R and a sensor module V.
(3) Detection range of the millimeter wave radar module R: the millimeter wave radar module emits millimeter waves with a 76GHz frequency band through the antenna module 1 to detect a target, and the identification angle of the millimeter wave radar module R in the left and right directions is +/-10 degrees within a long-distance 100m detection range; within the detection range of 50m in a short distance, the identification angle of the millimeter wave radar module R in the left and right directions is +/-45 degrees; the millimeter-wave beam is scanned electrically using a 9-channel antenna.
(4) Definition of terms: the current road gradient theta is an included angle between the driving direction of the intelligent vehicle E and the horizontal ground, namely the gradient of the current road; v. ofmaxThe maximum speed of the intelligent vehicle E is allowed on the premise of ensuring the safety of vehicle climbing.
As shown in fig. 2, the method of the present invention is applied based on an intelligent driving assistance system, which includes two major parts, namely a vehicle-mounted intelligent device and a vehicle body control unit.
The vehicle-mounted intelligent device comprises a sensor module V and a millimeter wave radar module R. The millimeter wave radar module R comprises a power supply module 4, an antenna module 1, an ACC function control module 2 and a communication module 3, the power supply module 4 takes power from a vehicle-mounted 12V storage battery and respectively supplies power to the antenna module 1, the ACC function control module 2 and the communication module 3, the antenna module 1 forwards transmits electromagnetic waves and receives reflected electromagnetic wave information and sends the received information to the ACC function control module 2, and the ACC function control module 2 acquires the real-time running speed B of the intelligent vehicle E when the intelligent vehicle E reaches a critical state; the ACC function control module 2 simultaneously receives the road gradient output by the CAN data collector 7 and obtains the maximum allowable speed vmax(ii) a The ACC function control module 2 controls the real-time running speed B and the maximum allowable speed v of the intelligent vehicle E when the intelligent vehicle E reaches the critical statemaxAnd comparing the data to determine the safe climbing speed, and sending the speed to the vehicle CAN network 8 through the communication module 3.
Sensor module V includes attitude sensor 5, data controller 6 and CAN data collection station 7, and in this embodiment, attitude sensor 5 chooses VN100 type for use, and CAN data collection station 7 adopts the high-speed CAN of dual-port. The attitude sensor 5 receives the position (serial port data) of the intelligent vehicle E according to the GPS mobile station, the data controller 6 converts the serial port data collected by the attitude sensor 5 into CAN data and sends the CAN data to the CAN data collector 7, the CAN data collector 7 analyzes the position (including longitude, latitude and elevation information) of the intelligent vehicle E according to a CAN protocol, the longitude and latitude information is projected to a northeast coordinate system by utilizing Gaussian transformation, the real-time three-dimensional position coordinate of the intelligent vehicle E in the driving process is obtained, the gradient theta of the road where the intelligent vehicle E is located is obtained, and the gradient theta is sent to the ACC function control module 2.
The vehicle body control unit comprises a vehicle CAN network 8 and a vehicle speed control module 9, the vehicle CAN network 8 receives information sent by the communication module 3, the vehicle CAN network 8 sends the information to the vehicle speed control module 9 through information interaction, and the vehicle speed control module 9 sends a control instruction to a motor and a brake pedal in the ACC vehicle control system, so that the vehicle speed is changed and the optimal vehicle speed is kept.
ACC function control Module 2 obtains the maximum allowable speed vmaxThe process of (2) is as follows:
the intelligent vehicle E obtains the current road gradient theta from an ascending slope to the top of the slope through the sensor module V, sends the gradient theta to the ACC function control module 2, and obtains the maximum allowable speed of the gradient through formulas (1) and (2);
the smart vehicle E receives a driving force F in the longitudinal directiontAir resistance FwRoad resistance Fψ(ramp resistance FiAnd rolling resistance FfSum), acceleration resistance FjAnd a braking force FbThen the maximum allowable speed and grade satisfy the following equation:
in the formula: m is the mass of the whole vehicle,
and
total driving torque and total braking torque of 4 wheels, r is wheel rolling radius, rho is air density, CDIs air resistanceCoefficient, A is the frontal area, frThe rolling resistance coefficient and the vehicle rotating mass conversion coefficient can be expressed as:
in the formula: i iswiIs the moment of inertia of the wheel, ImiThe moment of inertia of the rotor part of the hub motor is obtained;
substituting the formula (2) into the formula (1) to obtain the maximum allowable speed vmax。
As shown in fig. 3, the method for automatically limiting the speed of an uphill vehicle by using an adaptive cruise control system of the invention comprises the following specific steps: the ACC function control module 2 internally stores the real-time running speed B and the maximum allowable speed v when the intelligent vehicle E reaches the critical statemaxComparing to determine whether the vehicle is safe to climb the slope at the vehicle speed; if the real-time running speed B is less than or equal to the maximum allowable speed vmaxIf the real-time running speed B is larger than the maximum allowable speed v, the intelligent vehicle E climbs according to the normal speedmaxIf the speed of the intelligent vehicle E is too high and danger is easy to occur, the ACC function control module 2 calculates the deceleration of the intelligent vehicle E, sends the deceleration to the communication module 3 and sends the deceleration to the vehicle speed control module 9 through the vehicle CAN network 8, and the vehicle speed control module 9 sends a control instruction to a motor and a brake pedal in a vehicle control system to adjust the intelligent vehicle E to decelerate in time, so that the safety of climbing speed is ensured.
The ACC function control module 2 calculates the deceleration of the intelligent vehicle E, specifically:
wherein: a is deceleration, x is intelligent vehicle displacement, v is intelligent vehicle real-time running speed (namely B), tiRefers to a certain moment in the process of climbing the intelligent vehicle.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (8)
1. A method for automatically limiting speed of an intelligent vehicle on an uphill slope under an adaptive cruise control system is characterized in that an ACC function control module compares a real-time running speed B of the intelligent vehicle reaching a critical state with a maximum allowable speed vmaxIf the real-time running speed B is less than or equal to the maximum allowable speed vmaxIf the real-time running speed B is larger than the maximum allowable speed v, the intelligent vehicle climbs according to the normal speedmaxAnd the ACC function control module calculates the deceleration of the intelligent vehicle and sends the deceleration to the vehicle speed control module, and the vehicle speed control module sends a control instruction to the vehicle control system to realize the deceleration of the intelligent vehicle.
2. The method for automatically limiting the speed of an uphill vehicle under an adaptive cruise control system according to claim 1, wherein the maximum allowable speed is obtained by combining the current road gradient obtained by the sensor module and the longitudinal force of the intelligent vehicle.
3. A method for automatically limiting speed on an uphill vehicle with an adaptive cruise control system according to claim 2, wherein the maximum allowable speed and the gradient satisfy:
wherein FjFor vehicle longitudinal acceleration resistance, FtFor longitudinal driving force of vehicle, FwAs air resistance, FψAs road resistance, FbM is the mass of the whole vehicle,
and
total driving torque and total braking torque of 4 wheels, r is wheel rolling radius, rho is air density, CDIs the coefficient of air resistance, A is the frontal area, frIs a rolling resistance coefficient, is a vehicle rotating mass conversion coefficient, and
Iwiis the moment of inertia of the wheel, ImiIs the rotational inertia of the rotor part of the hub motor.
4. The method for automatically limiting the speed of the vehicle ascending on the slope under the adaptive cruise control system according to claim 2, wherein the sensor module comprises an attitude sensor, a data controller and a CAN data collector, the attitude sensor receives the position of the intelligent vehicle E according to a GPS mobile station, the data controller converts position data collected by the attitude sensor into CAN data and sends the CAN data to the CAN data collector, and the CAN data collector analyzes the position of the intelligent vehicle to obtain a real-time three-dimensional position coordinate of the intelligent vehicle in the driving process, so that the gradient of the road where the intelligent vehicle is located is obtained.
5. The method for automatically limiting the speed of the vehicle ascending slope under the adaptive cruise control system according to claim 1, wherein the ACC function control module calculates the deceleration a of the intelligent vehicle, specifically:
wherein a is deceleration, x is intelligent vehicle displacement, v is intelligent vehicle real-time running speed, tiRefers to a certain moment in the process of climbing the intelligent vehicle.
6. The method for automatic speed limit of vehicle uphill under adaptive cruise control system according to claim 1, wherein the deceleration of the smart vehicle is sent to the vehicle speed control module through a communication module and a vehicle CAN network.
7. An intelligent driving assistance system as defined in any one of claims 1 to 6, comprising an on-board intelligent device and a vehicle body control unit, wherein the on-board intelligent device comprises a sensor module and a millimeter wave radar module, the millimeter wave radar module comprises a power supply module, an antenna module, an ACC function control module and a communication module, and the ACC function control module acquires a real-time driving speed B of the intelligent vehicle reaching a critical state according to reflected electromagnetic wave information received by the antenna module; the ACC function control module simultaneously receives the road gradient output by the CAN data acquisition unit and acquires the maximum allowable speed vmax(ii) a The ACC function control module compares the real-time running speed B with a maximum allowable speed vmaxThe speed of the safe climbing is determined.
8. The intelligent driving assistance system of claim 7, wherein the vehicle body control unit comprises a vehicle CAN network and a vehicle speed control module, and the vehicle CAN network interacts the information sent by the communication module and sends the information to the vehicle speed control module.
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| CN117775130A (en) * | 2024-02-26 | 2024-03-29 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
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