CN108466618B - Adaptive cruise control method and system - Google Patents
Adaptive cruise control method and system Download PDFInfo
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- CN108466618B CN108466618B CN201710101236.8A CN201710101236A CN108466618B CN 108466618 B CN108466618 B CN 108466618B CN 201710101236 A CN201710101236 A CN 201710101236A CN 108466618 B CN108466618 B CN 108466618B
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- 230000001133 acceleration Effects 0.000 claims description 39
- 230000000087 stabilizing effect Effects 0.000 claims 2
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008034 disappearance Effects 0.000 description 4
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- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- 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
-
- 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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- B60W2550/142—
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of adaptive cruise control method and system.The method may include: when detecting the height of projection of road of the vehicle heading and reaching preset height value, obtain the navigation information of the vehicle；In conjunction with the navigation information got, judge the vehicle in driving direction with the presence or absence of ramp；When there are the value of slope for when ramp, calculating existing ramp in driving direction for the vehicle；According to the value of slope being calculated, the traveling of the vehicle is controlled.Using above scheme, safety when controlling using ACC system vehicle can be improved.
Description
Technical field
The present invention relates to technical field of vehicle control, and in particular to a kind of adaptive cruise control method and system.
Background technique
In vehicle travel process, adaptive learning algorithms (ACC) system can be come by adjusting speed so that vehicle is suitable
Should before traffic condition.
Specifically, front of the car is usually provided with radar, and ACC system can be obtained on this Chinese herbaceous peony access road by radar
With the presence or absence of the vehicle that speed is slower.The slower vehicle of speed if it exists, ACC system can reduce speed, and control the vehicle of this vehicle
The spacing of speed or this vehicle and front vehicles.If ACC system detects that front vehicles not when on this vehicle travel, will add
This fast vehicle speed is allowed to be restored to the speed before reducing speed.
By the control of ACC system, autonomous deceleration or acceleration of the vehicle under non-driver intervention may be implemented, thus may be used
To reduce the fatigue strength of driver, the comfort of car steering is promoted.
However, there are still security risks when being controlled using existing ACC system vehicle.
Summary of the invention
The embodiment of the present invention solves the problems, such as it is the safety how improved when controlling using ACC system vehicle.
To solve the above problems, the embodiment of the present invention provides a kind of adaptive cruise control method, the method packet
It includes: when detecting the height of projection of road of the vehicle heading and reaching preset height value, obtaining leading for the vehicle
Boat information；In conjunction with the navigation information got, judge the vehicle in driving direction with the presence or absence of ramp；When the vehicle exists
There are the value of slope for when ramp, calculating existing ramp in driving direction；According to the value of slope being calculated, the vehicle is controlled
Traveling.
Optionally, the value of slope that the basis is calculated controls the traveling of the vehicle, comprising: according to being calculated
Value of slope, control the speed or spacing of the vehicle.
Optionally, the method also includes: after the vehicle enters ramp, and detect in driving direction described in distance
When the nearest vehicle of vehicle disappears, the target vehicle speed of the vehicle is determined；According to identified target vehicle speed, it is calculated described
The aimed acceleration of vehicle；According to the aimed acceleration of the vehicle, the current speed of the vehicle is adjusted.
Optionally, the target vehicle speed of the vehicle: V=min { Vset, Vsafe, Vmax-i } is determined with the following method；V
For the target vehicle speed of the vehicle, Vset is target vehicle speed of the preset vehicle on ramp, in ramp according to Vsafe
On the safe speed that is calculated of investigative range, Vmax-i is the accessible maximum stable vehicle of vehicle under current hill grade
Speed.
Optionally, the aimed acceleration according to the vehicle adjusts the current speed of the vehicle, comprising: by institute
State vehicle aimed acceleration export to engine controller perhaps brake monitor by the engine controller or braking
Controller adjusts the current speed of the vehicle according to the aimed acceleration of the vehicle.
The embodiment of the invention also provides a kind of Vehicle Adaptive Cruising Control Systems, the system comprises: acquiring unit,
Suitable for obtaining leading for the vehicle when detecting the height of projection of road of the vehicle heading and reaching preset height value
Boat information；Judging unit judges the vehicle in driving direction with the presence or absence of slope suitable for combining the navigation information got
Road；First computing unit, suitable for when there are the gradients for when ramp, calculating existing ramp in driving direction for the vehicle
Value；Control unit, suitable for controlling the traveling of the vehicle according to the value of slope being calculated.
Optionally, described control unit is suitable for controlling the speed or spacing of the vehicle according to the value of slope being calculated.
Optionally, it the system also includes target vehicle speed determination unit, suitable for after the vehicle enters ramp, and visits
When measuring the vehicle disappearance that vehicle described in distance is nearest in driving direction, the target vehicle speed of the vehicle is determined；Second calculates list
Member is suitable for that the aimed acceleration of the vehicle is calculated according to identified target vehicle speed；Adjustment unit is suitable for according to institute
The aimed acceleration for stating vehicle adjusts the current speed of the vehicle.
Optionally, second computing unit is suitable for determining the target vehicle speed of the vehicle: V=min with the following method
{ Vset, Vsafe, Vmax-i }；V is the target vehicle speed of the vehicle, and Vset is target of the preset vehicle on ramp
Speed, the safe speed that the investigative range according to Vsafe on ramp is calculated, Vmax-i are described under current hill grade
The accessible maximum stable speed of vehicle.
Optionally, the adjustment unit is suitable for exporting the aimed acceleration of the vehicle to engine controller or system
Movement controller adjusts the vehicle according to the aimed acceleration of the vehicle by the engine controller or brake monitor
Current speed.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantage that
Using the above scheme, when the height of projection of the road of vehicle heading reaches preset height value, in conjunction with vehicle
Navigation information, can more accurately determine vehicle front with the presence or absence of ramp, it is possible thereby to more accurately control vehicle
Traveling, improve the safety of vehicle driving.
Further, after vehicle enters ramp, when detecting the vehicle disappearance that vehicle described in distance is nearest in driving direction,
The vehicle under safe speed and current hill grade that the investigative range of preset target vehicle speed, basis on ramp is calculated
Minimum value in accessible maximum stable speed, as the vehicle target vehicle speed and control vehicle driving, thus may be used
To avoid vehicle barrier occurs after entering down ramp and has little time the case where braking, the safety of vehicle driving is improved.
Detailed description of the invention
Fig. 1 is a kind of car ramp environment schematic in the embodiment of the present invention；
Fig. 2 is a kind of adaptive cruise control method flow diagram in the embodiment of the present invention；
Fig. 3 is a kind of value of slope Computing Principle schematic diagram in ramp in the embodiment of the present invention；
Fig. 4 is another car ramp environment schematic in the embodiment of the present invention；
Fig. 5 is another adaptive cruise control method flow diagram in the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of Vehicle Adaptive Cruising Control Systems in the embodiment of the present invention.
Specific embodiment
Current ACC system is all based on greatly straight road exploitation, it is difficult to accurately identify ramp.For example, such as Fig. 1 institute
Show, when vehicle 11 does not also drive into ramp 12, if the vehicle (not shown) in the front of vehicle 11 has been on ramp, vehicle at this time
Barrier is will mistakenly believe that after the radar detection of 11 front ends to the protrusion of road, the ACC system of vehicle 11 is according to this vehicle radar
Detection result can control this vehicle and carry out unnecessary deceleration, and leading to vehicle driving, there are security risks.
In view of the above-mentioned problems, the embodiment of the invention provides a kind of adaptive cruise control methods, using the side
Method, can be when the height of projection of the road of vehicle heading reaches preset height value, in conjunction with the navigation information of vehicle, more
Vehicle front is accurately determined with the presence or absence of ramp, it is possible thereby to more accurately control the traveling of vehicle, improves vehicle driving
Safety.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment explain in detail.
Referring to Fig. 2, the embodiment of the invention provides a kind of adaptive cruise control method, the method may include
Following steps:
Step 21, it when detecting the height of projection of road of the vehicle heading and reaching preset height value, obtains
The navigation information of the vehicle.
In specific implementation, the road of vehicle heading can be detected using a variety of methods, for example, can be
The road that front of the car detects vehicle heading according to radar whether there is protrusion, can also be in front of the car according to corresponding
Sensor detect the road of vehicle heading with the presence or absence of protrusion, specifically with no restriction.
In specific implementation, the preset height value can be configured according to the actual situation, when vehicle heading
When the height of projection of road reaches set height value, the navigation information of vehicle is obtained.Wherein, the navigation information of the vehicle
Including the current road environment information of the vehicle, for example, the location of present road, with the presence or absence of gradient etc., according to institute
The navigation information for stating vehicle can directly determine the current road conditions of vehicle.
It should be noted that the navigation information of the vehicle can be obtained using various ways, for example, can lead from vehicle-mounted
Automatic navigator and ACC system, are attached by the navigation information that vehicle is obtained in boat instrument by CAN bus；It can also be from hand
In the portable terminals such as machine obtain vehicle navigation information, by the radio connections such as wifi, bluetooth by mobile phone etc. just
Formula terminal device is taken to be attached with ACC system.
Step 22, in conjunction with the navigation information got, judge the vehicle in driving direction with the presence or absence of ramp.
In specific implementation, after getting navigation information, vehicle can be directly determined according to the navigation information and travelled
It whether there is ramp on direction.
Step 23, when the vehicle, there are the value of slope for when ramp, calculating existing ramp in driving direction.
In specific implementation, when the vehicle in driving direction there are when ramp, institute can be calculated according to theory of mechanics
The gradient in existing ramp.
Specifically, referring to Fig. 3, ramp of the vehicle 31 in driving direction and ground are in θ degree angle, and 31 present speed of vehicle is
V, obtaining corresponding acceleration to speed V derivation is a1, and the actual acceleration that the acceleration transducer of vehicle 31 measures vehicle is
asen, the quality of vehicle 31 is m, acceleration of gravity g, according to the available formula of theory of mechanics (1):
m*asen=m*g*sin θ+m*a1 (1)
Step 24, according to the value of slope being calculated, the traveling of the vehicle is controlled.
In specific implementation, can preset vehicle speed value of the vehicle on ramp can according to the value of slope being calculated
To control the speed of vehicle as set ramp speed.It can also preset spacing of the vehicle on ramp, that is, with
The vehicle the distance between nearest apart from this vehicle, according to the value of slope being calculated, can control vehicle with it is nearest apart from this vehicle
The distance between vehicle be set spacing.
In specific implementation, referring to Fig. 4, when front vehicles 42 are driven out to up-ramp, and vehicle 41 is also on up-ramp
When, the ACC system of vehicle 41 would generally control the acceleration of vehicle 41 because of the disappearance of front vehicles 42, at this point, if vehicle 41 drives into
Down ramp, and when front vehicles 42 are also at down ramp, the case where being easy to happen vehicle rear-end collision, there are security risks.
For this problem, the embodiment of the invention provides another adaptive cruise control methods, referring to Fig. 5, institute
The method of stating may include steps of:
Step 51, after the vehicle enters ramp, and the vehicle that vehicle described in distance is nearest in driving direction is detected
When disappearance, the target vehicle speed of the vehicle is determined.
In specific implementation, after vehicle enters ramp, if if the nearest vehicle of vehicle described in distance in driving direction
It disappears, for example unexpected lane change or drives into the non-detectable range of the radars such as down ramp, ACC system can control described at this time
Vehicle can accelerate to the target vehicle speed.
In specific implementation, it to there is barrier after preventing vehicle from entering descending the case where have little time brake, can adopt
The target vehicle speed of vehicle is adjusted with following formula:
V=min { Vset, Vsafe, Vmax-i } (2)
Wherein, V is the target vehicle speed of the vehicle, and Vset is the target vehicle speed of the preset vehicle, according to Vsafe
The safe speed that investigative range on ramp calculates, Vmax-i are the attainable maximum stable vehicle of vehicle under current hill grade
Speed.
After the vehicle enters ramp, and when detecting vehicle described in distance is nearest in driving direction vehicle and disappearing,
The safe speed that target vehicle speed Vset, basis investigative range on ramp of the preset vehicle on ramp is calculated
Vsafe and minimum speed under current hill grade in the attainable maximum stable vehicle velocity V max-i of vehicle are as the vehicle
Target vehicle speed thus it can be prevented that and occur barrier after vehicle enters descending and have little time the case where braking.Wherein, Vset can be with
It is set by driver according to vehicle actual conditions, herein with no restriction.
In specific implementation, Vsafe can be calculated using following formula (3):
Vsafe2=2*a*L (3)
Wherein, for the vehicle, the attainable maximum braking deceleration under current ramp, L are thunder under current ramp to a
Up to the effective distance that can be detected.
In specific implementation, Vmax-i can be calculated using following formula (4):
Ttq*ig*i0*ηT/ r=G*f+G*+ (CDA/21.15)*Vmax-i2 (4)
Wherein, TtqFor the driving torque of engine, igFor the transmission ratio of vehicle, i0For the base ratio of vehicle, ηTFor vehicle
Transmission efficiency, r is the tire radius of vehicle, and G is the gravity of vehicle, and f is gradient resistance coefficient, and i is the gradient and to meet i=
Tan θ, CDFor coefficient of air resistance, A is the front face area of vehicle.
Step 52, according to identified target vehicle speed, the aimed acceleration of the vehicle is calculated.
In one embodiment of this invention, it after the target vehicle speed for obtaining the vehicle, can be determined using following formula (5)
For aimed acceleration needed for reaching the target vehicle speed:
ades=-k1(vc(t))*(cd(t)-c(t))-k2(vc(t))(vp(t)-vc(t)) (5)
Wherein, adesFor aimed acceleration needed for reaching the target vehicle speed；k1(vcAnd k (t))2(vc(t)) for institute
State the acceleration gain coefficient of vehicle speed variation；vp(t) vehicle nearest for vehicle described in distance on the vehicle heading
Speed；vcIt (t) is the current vehicle speed of the vehicle；C (t) is between the vehicle to the vehicle nearest apart from the vehicle
Distance；cd(t) for preset target carriage away from, to preset vehicle travelled on ramp when away from related.
For the vehicle 41 and 42 shown in Fig. 4, vehicle 41 can be regard as this vehicle, will vehicle 42 as described in distance
The nearest vehicle of vehicle, then vp(t) i.e. the speed of vehicle 42, vcIt (t) is the speed of vehicle 41, k1(vcAnd k (t))2(vc(t)) it is
With the acceleration gain coefficient that 41 speed of vehicle changes, c (t) is distance of the vehicle 41 to vehicle 42.
Step 53, according to the aimed acceleration of the vehicle, the current speed of the vehicle is adjusted.
It in specific implementation, can be defeated by the aimed acceleration of the vehicle after the aimed acceleration for obtaining the vehicle
Out to engine controller or brake monitor, increased by the engine controller according to the aimed acceleration of the vehicle
The speed of the vehicle, or by the brake monitor according to the aimed acceleration of the vehicle to reduce the vehicle current
Speed.
Using step 51 to 53, due to the influence in the ramp that the calculating of the aimed acceleration of vehicle is considered, can be with
Avoid vehicle down ramp when driving, because spacing it is smaller caused by security risk, further increase the safety of vehicle driving
Property.
It should be noted that embodiment shown in Figure 2, which is suitable for vehicle, enters the control before ramp, reality shown in Fig. 5
It applies example and enters the control behind ramp suitable for vehicle.In one embodiment of this invention, ACC system can use shown in Figure 2
Embodiment controls before entering ramp to vehicle.In another embodiment of the invention, ACC system can use and show in Fig. 5
Embodiment out controls after entering ramp to vehicle.It, can be using in Fig. 2 and Fig. 5 in another embodiment of the present invention
The embodiment shown controls after entering ramp and entrance ramp to vehicle respectively, also, implements shown in Fig. 2 and Fig. 5
The execution sequence of example is unrestricted, is selected according to the specific travel situations of vehicle.
As shown in the above, adaptive cruise control method described in the embodiment of the present invention, it is adaptive in vehicle
Influence of the ramp to vehicle driving is considered during cruise control, and is controlled accordingly for different ramp environment
System improves the safety of vehicle driving and comfortable it is possible thereby to avoid unnecessary acceleration or deceleration in vehicle travel process
Property.
It is adaptive to above-mentioned vehicle below in order to more fully understand those skilled in the art and realize the embodiment of the present invention
System corresponding to cruise control method is answered to be described in detail.
Referring to Fig. 6, the embodiment of the invention provides a kind of Vehicle Adaptive Cruising Control Systems, the system 60 be can wrap
It includes: acquiring unit 61, judging unit 62, the first computing unit 63 and control unit 64.Wherein:
The acquiring unit 61, suitable for reaching default height when the height of projection for the road for detecting the vehicle heading
When angle value, the navigation information of the vehicle is obtained；
The judging unit 62, suitable for combining the navigation information that gets, judge the vehicle in driving direction whether
There are ramps；
First computing unit 63, suitable for when the vehicle it is existing there are calculating when ramp in driving direction
The value of slope in ramp；
Described control unit 64, suitable for controlling the traveling of the vehicle according to the value of slope being calculated.
In specific implementation, described control unit 64 is suitable for controlling the vehicle of the vehicle according to the value of slope being calculated
Speed or spacing.
In one embodiment of this invention, the system 60 can also include: target vehicle speed determination unit 65, and second calculates
Unit 66 and adjustment unit 67.Wherein:
The target vehicle speed determination unit 65, suitable for after the vehicle enters ramp, and detect in driving direction away from
When the vehicle nearest from the vehicle disappears, the target vehicle speed of the vehicle is determined；
Second computing unit 66 is suitable for according to identified target vehicle speed, and the target that the vehicle is calculated adds
Speed；
The adjustment unit 67 adjusts the current speed of the vehicle suitable for the aimed acceleration according to the vehicle.
In specific implementation, second computing unit 66 is suitable for determining the target carriage of the vehicle with the following method
Speed:
V=min { Vset, Vsafe, Vmax-i }；
V is the target vehicle speed of the vehicle, and Vset is target vehicle speed of the preset vehicle on ramp, and Vsafe is
According to the safe speed that the investigative range on ramp is calculated, Vmax-i is that the vehicle is accessible under current hill grade
Maximum stable speed.
In specific implementation, the adjustment unit 67 is suitable for exporting the aimed acceleration of the vehicle to engine and control
Perhaps brake monitor is adjusted by the engine controller or brake monitor according to the aimed acceleration of the vehicle device
The current speed of the vehicle.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium may include: ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (10)
1. a kind of adaptive cruise control method characterized by comprising
When detecting the height of projection of road of the vehicle heading and reaching preset height value, leading for the vehicle is obtained
Boat information；
In conjunction with the navigation information got, judge the vehicle in driving direction with the presence or absence of ramp；
When there are the value of slope for when ramp, calculating existing ramp in driving direction for the vehicle；
According to the value of slope being calculated, the traveling of the vehicle is controlled.
2. adaptive cruise control method as described in claim 1, which is characterized in that the slope that the basis is calculated
Angle value controls the traveling of the vehicle, comprising:
According to the value of slope being calculated, the speed or spacing of the vehicle are controlled.
3. adaptive cruise control method as described in claim 1, which is characterized in that further include:
After the vehicle enters ramp, and when detecting vehicle described in distance is nearest in driving direction vehicle and disappearing, determine
The target vehicle speed of the vehicle；
According to identified target vehicle speed, the aimed acceleration of the vehicle is calculated；
According to the aimed acceleration of the vehicle, the current speed of the vehicle is adjusted.
4. adaptive cruise control method as claimed in claim 3, which is characterized in that described in determining with the following method
The target vehicle speed of vehicle:
V=min { Vset, Vsafe, Vmax-i }；
V is the target vehicle speed of the vehicle, and Vset is target vehicle speed of the preset vehicle on ramp, according to Vsafe
The safe speed that investigative range on ramp is calculated, Vmax-i are the accessible maximum of vehicle under current hill grade
Stabilizing speed.
5. adaptive cruise control method as claimed in claim 3, which is characterized in that the mesh according to the vehicle
Acceleration is marked, the current speed of the vehicle is adjusted, comprising:
The aimed acceleration of the vehicle is exported to engine controller or brake monitor, by the engine controller
Or brake monitor adjusts the current speed of the vehicle according to the aimed acceleration of the vehicle.
6. a kind of Vehicle Adaptive Cruising Control Systems characterized by comprising
Acquiring unit, suitable for obtaining when detecting the height of projection of road of the vehicle heading and reaching preset height value
Take the navigation information of the vehicle；
Judging unit judges the vehicle in driving direction with the presence or absence of ramp suitable for combining the navigation information got；
First computing unit, suitable for when there are the gradients for when ramp, calculating existing ramp in driving direction for the vehicle
Value；
Control unit, suitable for controlling the traveling of the vehicle according to the value of slope being calculated.
7. Vehicle Adaptive Cruising Control Systems as claimed in claim 6, which is characterized in that described control unit is suitable for basis
The value of slope being calculated controls the speed or spacing of the vehicle.
8. Vehicle Adaptive Cruising Control Systems as claimed in claim 6, which is characterized in that further include:
Target vehicle speed determination unit suitable for after the vehicle enters ramp, and detects vehicle described in distance in driving direction
When nearest vehicle disappears, the target vehicle speed of the vehicle is determined；
Second computing unit is suitable for that the aimed acceleration of the vehicle is calculated according to identified target vehicle speed；
Adjustment unit adjusts the current speed of the vehicle suitable for the aimed acceleration according to the vehicle.
9. Vehicle Adaptive Cruising Control Systems as claimed in claim 8, which is characterized in that the target vehicle speed determination unit
Suitable for determining the target vehicle speed of the vehicle with the following method:
V=min { Vset, Vsafe, Vmax-i }；
V is the target vehicle speed of the vehicle, and Vset is target vehicle speed of the preset vehicle on ramp, according to Vsafe
The safe speed that investigative range on ramp is calculated, Vmax-i are the accessible maximum of vehicle under current hill grade
Stabilizing speed.
10. Vehicle Adaptive Cruising Control Systems as claimed in claim 8, which is characterized in that the adjustment unit is suitable for will
The aimed acceleration of the vehicle export to engine controller perhaps brake monitor by the engine controller or system
Movement controller adjusts the current speed of the vehicle according to the aimed acceleration of the vehicle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111762160B (en) * | 2019-03-15 | 2021-11-23 | 广州汽车集团股份有限公司 | Automatic driving method and system for pre-accelerating uphill |
| CN111434545A (en) * | 2019-07-04 | 2020-07-21 | 长城汽车股份有限公司 | Cruise control method and system of vehicle and vehicle |
| CN112092812A (en) * | 2020-08-18 | 2020-12-18 | 江苏大学 | Method for automatically limiting speed of vehicle ascending slope under adaptive cruise control system |
| CN112109733A (en) * | 2020-09-15 | 2020-12-22 | 东风汽车集团有限公司 | Uphill and downhill control system and method based on unmanned vehicle |
| CN113879304B (en) * | 2021-10-21 | 2023-06-20 | 中寰卫星导航通信有限公司 | Vehicle control method, device, equipment and storage medium |
| CN115320592B (en) * | 2022-10-13 | 2023-02-10 | 青岛慧拓智能机器有限公司 | Vehicle speed planning method, device, chip, terminal, computer equipment and medium |
| CN116118730B (en) * | 2023-03-22 | 2023-11-03 | 北京京深深向科技有限公司 | Control method, device, equipment and medium of predictive cruise system |
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