CN108909709B - Automatic car following method and device - Google Patents

Automatic car following method and device Download PDF

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CN108909709B
CN108909709B CN201810764024.2A CN201810764024A CN108909709B CN 108909709 B CN108909709 B CN 108909709B CN 201810764024 A CN201810764024 A CN 201810764024A CN 108909709 B CN108909709 B CN 108909709B
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vehicle
control law
distance
following control
following
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CN108909709A (en
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贺容波
周俊杰
杜金枝
刘浩铭
刘妹
许其运
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Wuhu Lion Automotive Technologies Co Ltd
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Chery Automobile Co Ltd
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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
    • 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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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
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Abstract

The invention relates to an automatic car following method and a device, belonging to the field of intelligent cars, wherein the automatic car following method comprises the following steps: acquiring running data of a front vehicle acquired by a vehicle-mounted radar, wherein the front vehicle and the vehicle are positioned in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum; determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the driving data of the front vehicle and the driving data of the vehicle; the method comprises the steps of controlling the vehicle to run according to a following control law, wherein the running data of the front vehicle comprises the running speed of the front vehicle and the actual distance between the front vehicle and the vehicle, and the running data of the vehicle comprises the running speed of the vehicle.

Description

Automatic car following method and device
Technical Field
The invention relates to the field of intelligent vehicles, in particular to an automatic vehicle following method and device.
Background
With the rapid development of the automobile industry and the continuous improvement of the living standard of people, automobiles rapidly enter common families. As more and more vehicles run on the road, the traffic jam phenomenon is increasingly serious. In the case of long-time congestion, the vehicle runs very slowly, and the vehicle is continuously switched between a stop state and a go state, so that the driver needs to pay high attention to the distance between the vehicle and the front vehicle, and thus the driver is easily in a fatigue driving state, and a traffic accident is easily caused. As one of key technologies of an automobile safety auxiliary system, an automatic car following technology has attracted much attention. How to further reduce the cost of the vehicle on the premise of not influencing the automatic driving function of the vehicle is a problem which is urgently needed to be solved at present.
In the related art, the cost of the vehicle is often reduced by reducing the number of sensors used in automatic vehicle following, specifically, only a radar sensor for detecting the longitudinal vehicle following distance and relative speed of the vehicle is used, and an observer is used to replace a sensor for detecting the acceleration of the vehicle, and the vehicle keeps a certain travel distance with the front vehicle based on the longitudinal vehicle following distance, the relative speed and the acceleration. Although a sensor for detecting the acceleration is omitted in the mode, the observer is low in acceleration detection efficiency and large in error, so that the safety distance between the vehicle and the front vehicle is too large during automatic vehicle following, the vehicle following effect is poor, and the traffic passing efficiency is low.
Disclosure of Invention
The embodiment of the invention provides an automatic car following method and device, which can solve the problems of overlarge safety distance between a car and a front car, poor car following effect and low traffic passing efficiency in the related art during automatic car following. The technical scheme is as follows:
according to a first aspect of embodiments of the present invention, there is provided an automatic car following method, the method including:
acquiring running data of a front vehicle acquired by a vehicle-mounted radar, wherein the front vehicle and a vehicle are positioned in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum;
determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the running data of the front vehicle and the running data of the vehicle, wherein the following control quantity is used for indicating the relation among the running speed of the vehicle, the relative speed of the vehicle and the front vehicle and distance deviation, and the distance deviation is the difference between the actual distance between the vehicle and the front vehicle and the safe distance between the vehicle and the front vehicle;
controlling the vehicle to run according to the following control law;
the running data of the preceding vehicle comprises the running speed of the preceding vehicle and the actual distance between the vehicle and the preceding vehicle, and the running data of the vehicle comprises the running speed of the vehicle.
Optionally, the determining a following control law by using a nonsingular fast terminal sliding mode control mode according to the driving data of the preceding vehicle and the driving data of the vehicle includes:
determining the safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle;
determining the difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain the relative speed;
determining the difference value between the actual distance and the safe distance to obtain the distance deviation;
determining a following control law by adopting a following control law calculation formula according to the relative speed, the distance deviation and the running speed of the vehicle;
wherein the safe distance formula is: ddes＝τhυp+d0D, said ddesFor the safety distance, thehIs vehicle brake hysteresis time, said υpIs the running speed of the preceding vehicle, d0Is the distance between the two vehicles when the front vehicle and the host vehicle stop,
the following control law calculation formula is as follows:
Figure BDA0001728592150000021
Figure BDA0001728592150000022
u is the following control law, Δ d is the distance deviation, Δ upsilon is the relative speed, upsilon is the running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1 < b < 2, a>b，c1>1，0＜c2＜1，α,β,ρ1,ρ2∈R+。
Optionally, the controlling the vehicle to run according to the following control law includes:
when the following control law is less than 0, determining that the running mode of the vehicle is an acceleration mode, and controlling the displacement of an accelerator pedal of the vehicle according to the following control law;
and when the following control law is not less than 0, determining that the running mode of the vehicle is a deceleration mode, and controlling the displacement of the brake pedal of the vehicle according to the following control law.
Optionally, the controlling the displacement of the accelerator pedal of the host vehicle according to the following control law includes:
determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following control law;
searching a target throttle opening value corresponding to the target engine torque from a first corresponding relation, wherein the first corresponding relation is used for recording the corresponding relation between the engine torque and the throttle opening value;
searching a target displacement of the accelerator pedal corresponding to the target accelerator opening value from the second corresponding relation, wherein the second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal;
adjusting the displacement of the accelerator pedal to a target displacement of the accelerator pedal;
the engine torque is calculated by the formula
Figure BDA0001728592150000031
Wherein, T iseIs the target engine torque, u is the following control law, igFor the transmission ratio, i0For differential ratio, said ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwThe rolling radius of the driving wheel;
the controlling a displacement amount of a brake pedal of the host vehicle according to the following control law includes:
searching for the target displacement of the brake pedal corresponding to the following vehicle control law from a third corresponding relation, wherein the third corresponding relation is used for recording the corresponding relation between the following vehicle control law and the displacement of the brake pedal;
adjusting the displacement amount of the brake pedal to a target displacement amount of the brake pedal.
According to a second aspect of the embodiments of the present invention, there is provided an automatic car following device including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring driving data of a front vehicle acquired by a vehicle-mounted radar, the front vehicle and a vehicle are positioned in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum;
the determining module is used for determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the running data of the front vehicle and the running data of the vehicle, wherein the following control quantity is used for indicating the running speed of the vehicle, the relative speed of the vehicle and the front vehicle and the relation between distance deviations, and the distance deviations are the difference values of the actual distance between the vehicle and the front vehicle and the safe distance between the vehicle and the front vehicle;
the control module is used for controlling the vehicle to run according to the following control law;
the running data of the preceding vehicle comprises the running speed of the preceding vehicle and the actual distance between the vehicle and the preceding vehicle, and the running data of the vehicle comprises the running speed of the vehicle.
Optionally, the determining module is configured to:
determining the safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle;
determining the difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain the relative speed;
determining the difference value between the actual distance and the safe distance to obtain the distance deviation;
determining a following control law by adopting a following control law calculation formula according to the relative speed, the distance deviation and the running speed of the vehicle;
wherein the safe distance formula is: ddes＝τhυp+d0D, said ddesFor the safety distance, thehIs vehicle brake hysteresis time, said υpIs the running speed of the preceding vehicle, d0Is the distance between the two vehicles when the front vehicle and the host vehicle stop,
the following control law calculation formula is as follows:
Figure BDA0001728592150000041
Figure BDA0001728592150000042
u is the following control law, Δ d is the distance deviation, Δ upsilon is the relative speed, upsilon is the running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1 < b < 2, a>b，c1>1，0＜c2＜1，α,β,ρ1,ρ2∈R+。
Optionally, the control module includes:
the first determining submodule is used for determining that the running mode of the vehicle is an acceleration mode when the following control law is less than 0, and controlling the displacement of an accelerator pedal of the vehicle according to the following control law;
and the second determining submodule is used for determining that the running mode of the vehicle is a deceleration mode when the following control law is not less than 0, and controlling the displacement of the brake pedal of the vehicle according to the following control law.
Optionally, the first determining sub-module is configured to:
determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following control law;
searching a target throttle opening value corresponding to the target engine torque from a first corresponding relation, wherein the first corresponding relation is used for recording the corresponding relation between the engine torque and the throttle opening value;
searching a target displacement of the accelerator pedal corresponding to the target accelerator opening value from the second corresponding relation, wherein the second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal;
adjusting the displacement of the accelerator pedal to a target displacement of the accelerator pedal;
the engine torque is calculated by the formula
Figure BDA0001728592150000051
Wherein, T iseIs the target engine torque, u is the following control law, igFor the transmission ratio, i0For differential ratio, said ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwThe rolling radius of the driving wheel;
the second determining submodule is configured to:
searching for the target displacement of the brake pedal corresponding to the following vehicle control law from a third corresponding relation, wherein the third corresponding relation is used for recording the corresponding relation between the following vehicle control law and the displacement of the brake pedal;
adjusting the displacement amount of the brake pedal to a target displacement amount of the brake pedal.
According to a third aspect of the embodiments of the present invention, there is provided an automatic car following device including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the automatic car following method of the first aspect when executing the computer program.
According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the automatic car following method of the first aspect.
According to a fifth aspect of embodiments of the present invention, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the automatic car following method of the first aspect.
The technical scheme provided by the embodiment of the invention at least comprises the following beneficial effects:
according to the running speed of the front vehicle, the actual distance between the front vehicle and the running speed of the vehicle, the vehicle is controlled to run by adopting a nonsingular rapid terminal sliding mode control mode, and the vehicle can stably and rapidly follow the front vehicle to run. The acceleration of the vehicle does not need to be detected in the whole automatic vehicle following process, so an observer does not need to be used, the overlarge safety distance between the vehicle and a front vehicle during automatic vehicle following is avoided, the vehicle following effect is improved, and the traffic passing efficiency is improved.
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In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of an implementation environment in which embodiments of the invention are implemented;
FIG. 2 is a flow chart of an automatic car following method according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for automatic car following according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an actual distance and a safe distance between a host vehicle and a front vehicle according to an embodiment of the present invention;
FIG. 5 is a flowchart of a method for determining a follow-up control law according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for controlling the displacement of an accelerator pedal of a vehicle according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for controlling the displacement of the brake pedal of the vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a longitudinal dynamics model of a vehicle;
fig. 9 is a schematic structural diagram of an automatic car following device according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a control module according to an embodiment of the present invention;
fig. 11 is a schematic structural view of another automatic car following device provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of an implementation environment according to an embodiment of the present invention, where the implementation environment may include a host vehicle 01 and a lead vehicle 02 that travel on a road, and the vehicles in the embodiment of the present invention are all intelligent vehicles. The vehicle 01 keeps a certain running distance with the front vehicle 02 based on an automatic vehicle following technology.
In the related art, in order to reduce the number of sensors used for automatic following, an observer is often used instead of a sensor for detecting the acceleration of a vehicle, and the vehicle keeps a certain travel distance from a preceding vehicle based on a longitudinal following distance, a relative speed and an acceleration. However, the observer has low acceleration detection efficiency and large error, which results in too large safety distance between the vehicle and the front vehicle during automatic following, poor following effect and low traffic efficiency.
In the embodiment of the invention, the vehicle can be controlled to run by adopting a nonsingular rapid terminal sliding mode control mode according to the running speed of the front vehicle, the actual distance between the vehicle and the front vehicle and the running speed of the vehicle, and the vehicle can stably and rapidly follow the front vehicle to run. The acceleration of the vehicle does not need to be detected in the whole automatic vehicle following process, so an observer does not need to be used, and the problems that the safety distance between the vehicle and a front vehicle is too large, the vehicle following effect is poor and the traffic passing efficiency is low during automatic vehicle following are solved.
Fig. 2 shows a flowchart of an automatic car following method provided by an embodiment of the present invention, which may be used in an industrial personal computer on a vehicle, and as shown in fig. 2, the method includes:
step 201, acquiring driving data of a front vehicle acquired by a vehicle-mounted radar, wherein the front vehicle and the vehicle are located in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum.
There may be a plurality of front vehicles located in the same lane as the host vehicle, and the front vehicle in the embodiment of the present invention is a vehicle with the smallest relative distance to the host vehicle among the plurality of front vehicles.
Step 202, determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the driving data of the front vehicle and the driving data of the vehicle, wherein the following control quantity is used for indicating the driving speed of the vehicle, the relative speed of the vehicle and the front vehicle and the relation between distance deviations, and the distance deviations are the difference values of the actual distance between the vehicle and the front vehicle and the safe distance between the vehicle and the front vehicle.
And step 203, controlling the vehicle to run according to the following control law.
The running data of the front vehicle comprises the running speed of the front vehicle and the actual distance between the front vehicle and the vehicle, and the running data of the vehicle comprises the running speed of the vehicle.
In the embodiment of the invention, the vehicle-mounted radar acquires the driving data of the front vehicle in real time, and the industrial personal computer can determine the following control law in real time according to the driving data of the front vehicle acquired by the vehicle-mounted radar and control the driving of the vehicle.
In summary, according to the automatic car following method provided by the embodiment of the present invention, the non-singular fast terminal sliding mode control manner is adopted to control the car to run according to the running speed of the preceding car, the actual distance between the car and the preceding car, and the running speed of the car, so that the car can smoothly and fast follow the preceding car to run. The acceleration of the vehicle does not need to be detected in the whole automatic vehicle following process, so an observer does not need to be used, the overlarge safety distance between the vehicle and a front vehicle during automatic vehicle following is avoided, the vehicle following effect is improved, and the traffic passing efficiency is improved.
According to the normal driving habits of drivers, only one of an accelerator pedal and a brake pedal is in action at the same time, namely the brake pedal does not work when the accelerator pedal works, and the accelerator pedal does not work when the brake pedal works. The automatic car following method provided by the embodiment of the invention can adjust the displacement of an accelerator pedal or a brake pedal according to the size of a car following control law, and as shown in fig. 3, the automatic car following method can comprise the following steps:
and 301, acquiring the driving data of the front vehicle acquired by the vehicle-mounted radar.
The front vehicle and the host vehicle are positioned on the same lane, and the relative distance between the front vehicle and the host vehicle is the minimum. There may be a plurality of front vehicles located in the same lane as the host vehicle, and the front vehicle in the embodiment of the present invention is a vehicle with the smallest relative distance to the host vehicle among the plurality of front vehicles.
The driving data of the front vehicle collected by the vehicle-mounted radar comprises the driving speed of the front vehicle and the actual distance between the front vehicle and the vehicle, and the driving data of the vehicle comprises the driving speed of the vehicle. In the embodiment of the invention, the running speed of the front vehicle is recorded as upsilonpThe actual distance between the vehicle and the preceding vehicle is denoted as d, and the traveling speed of the vehicle is denoted as upsilon.
In the embodiment of the invention, the vehicle-mounted radar acquires the driving data of the front vehicle in real time, and the industrial personal computer can determine the following control law in real time according to the driving data of the front vehicle acquired by the vehicle-mounted radar and control the driving of the vehicle.
Optionally, the vehicle-mounted radar used for collecting the driving data of the front vehicle can be a millimeter wave radar, the millimeter wave radar is a radar which works in a millimeter wave band for detection, the millimeter wave radar has the characteristics of small size, high resolution, all weather and the like, can detect targets around the vehicle in a complex measuring environment, and is high in accuracy. For example, the millimeter wave radar may be disposed on a front bumper of the host vehicle, and the actual distance d between the host vehicle and the front vehicle is the distance between the front bumper of the host vehicle and a rear bumper of the front vehicle, as shown in fig. 4.
And 302, determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the driving data of the front vehicle and the driving data of the vehicle.
The following control amount is used to indicate a relationship among a running speed of the host vehicle, a relative speed of the host vehicle and a preceding vehicle, and a distance deviation, which is a difference between an actual distance between the host vehicle and the preceding vehicle and a safe distance between the host vehicle and the preceding vehicle.
Optionally, as shown in fig. 5, step 302 may include:
and step 3021, determining the safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle.
Wherein, the safe distance formula is as follows: ddes＝τhυp+d0，，ddesIs the safe distance between the vehicle and the front vehicle, tauhRetardation time, upsilon, for vehicle brakingpThe running speed of the preceding vehicle, d0The distance between the two vehicles when the front vehicle and the vehicle stop. Vehicle braking delay time tauhSpecifically, the time used when the vehicle collides with the front vehicle when the front vehicle is braked and stopped and the vehicle does not decelerate is used. Safe distance d between the vehicle and the front vehicledesCan be seen in fig. 4.
Exemplary, τhCan be 1.5s (sec), d0And may be 5m (meters).
And step 3022, determining a difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain a relative speed.
Wherein the relative speed of the vehicle and the front vehicle
Figure BDA0001728592150000081
υpIs the traveling speed of the preceding vehicle, and upsilon is the traveling speed of the own vehicle.
And step 3023, determining a difference value between the actual distance and the safe distance to obtain a distance deviation.
Wherein the distance deviation
Figure BDA0001728592150000091
d is the actual distance between the vehicle and the front vehicledesThe safe distance between the vehicle and the front vehicle. Distance betweenFig. 4 can be referred to as a graph of the deviation Δ d.
And step 3024, determining the following control law by using a following control law calculation formula according to the relative speed, the distance deviation and the driving speed of the vehicle.
The following control law calculation formula is as follows:
Figure BDA0001728592150000092
Figure BDA0001728592150000093
wherein u is a following vehicle control law, delta d is a distance deviation, delta upsilon is a relative speed, upsilon is a running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1 < b < 2, a>b，c1>1，0＜c2＜1，α,β,ρ1,ρ2∈R+。
As an example, a-2,
Figure BDA0001728592150000094
α＝1，β＝2，ρ1＝2，ρ2＝4，c1＝2，c2＝0.5。
in the embodiment of the invention, when the following control law u is less than 0, the industrial personal computer determines that the running mode of the vehicle is an acceleration mode and adjusts the displacement of an accelerator pedal of the vehicle; and when the following control law u is not less than 0, the industrial personal computer determines that the driving mode of the vehicle is a deceleration mode, and adjusts the displacement of the brake pedal of the vehicle.
And step 303, when the following control law is less than 0, determining that the running mode of the vehicle is an acceleration mode, and controlling the displacement of an accelerator pedal of the vehicle according to the following control law.
In step 303, controlling the displacement of the accelerator pedal of the host vehicle according to the following control law, as shown in fig. 6, may include:
step 3031, determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following control law.
Wherein the engine torque is calculated by the formula
Figure BDA0001728592150000095
TeTarget engine torque, u vehicle following control law, igTo the transmission ratio, i0For differential ratio, ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwIs the rolling radius of the driving wheel.
And step 3032, searching a target accelerator opening value corresponding to the target engine torque from the first corresponding relation.
The first correspondence is used for recording the correspondence between the engine torque and the throttle opening value. The first correspondence may be obtained from an engine speed characteristic function. For example, as shown in table 1, the throttle opening value for engine torque X1 is Y1, the throttle opening value for engine torque X2 is Y2, and the throttle opening value for engine torque X3 is Y3. For example, if the target engine torque is X1, then the target throttle opening value is Y1.
TABLE 1
Engine torque Opening degree of throttle
X1 Y1
X2 Y2
X3 Y3
And step 3033, searching the target displacement of the accelerator pedal corresponding to the target accelerator opening value from the second corresponding relation.
The second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal. For example, as shown in table 2, the displacement amount of the accelerator pedal corresponding to the accelerator opening value Y1 is L1, the displacement amount of the accelerator pedal corresponding to the accelerator opening value Y2 is L2, and the displacement amount of the accelerator pedal corresponding to the accelerator opening value Y3 is L3. For example, if the target accelerator opening value is Y1, the target displacement amount of the accelerator pedal is L1.
TABLE 2
Opening degree of throttle Displacement of accelerator pedal
Y1 L1
Y2 L2
Y3 L3
And step 3034, adjusting the displacement of the accelerator pedal to be the target displacement of the accelerator pedal.
By executing steps 3031 to 3033, the industrial personal computer determines the target displacement of the accelerator pedal, and by executing step 3034, the industrial personal computer adjusts the displacement of the accelerator pedal at the current time to the target displacement of the accelerator pedal, for example, if the target displacement of the accelerator pedal determined by the industrial personal computer in step 3033 is L1, the industrial personal computer adjusts the displacement of the accelerator pedal at the current time to L1, so that the adjustment of the displacement of the accelerator pedal of the vehicle is realized, and the driving mode of the vehicle is the acceleration mode.
And step 304, when the following control law is not less than 0, determining that the running mode of the vehicle is a deceleration mode, and controlling the displacement of the brake pedal of the vehicle according to the following control law.
In step 304, the controlling the displacement of the brake pedal of the host vehicle according to the following control law may include, as shown in fig. 7:
step 3041, a target displacement amount of the brake pedal corresponding to the vehicle control law is searched for from the third correspondence relationship.
The third correspondence is used for recording the correspondence between the vehicle following control law and the displacement of the brake pedal. The following control law is in direct proportion to the displacement of the brake pedal, namely the larger the following control law is, the larger the displacement of the brake pedal is.
As shown in table 3, the third correspondence relationship may be that the displacement amount of the brake pedal corresponding to the following vehicle control law u1 is N1, the displacement amount of the brake pedal corresponding to the following vehicle control law u2 is N2, and the displacement amount of the brake pedal corresponding to the following vehicle control law u3 is N3. For example, if the following control law determined in step 302 is u1, the target displacement amount of the brake pedal is N1.
TABLE 3
Control law of following vehicle Displacement of brake pedal
u1 N1
u2 N2
u3 N3
Step 3042, the displacement amount of the brake pedal is adjusted to the target displacement amount of the brake pedal.
By executing step 3041, the industrial personal computer determines the target displacement amount of the brake pedal, and by executing step 3042, the industrial personal computer adjusts the displacement amount of the brake pedal at the current time to the target displacement amount of the brake pedal, for example, if the target displacement amount of the brake pedal determined by the industrial personal computer in step 3041 is N1, the industrial personal computer adjusts the displacement amount of the brake pedal at the current time to N1, thereby adjusting the displacement amount of the brake pedal of the host vehicle, and making the driving mode of the host vehicle be the deceleration mode.
The derivation process of the following control law calculation formula will now be described by taking the acceleration mode as an example. When the running mode of the vehicle is the acceleration mode, the running system input quantity is the driving torque, the output quantity is the running speed of the vehicle, and the external environmental influences such as air resistance, tire rolling resistance, road gradient resistance and the like are considered, the longitudinal dynamics model of the vehicle has a structure shown in fig. 8, the dynamic characteristics of the accelerator actuator and the engine are ignored for establishing the vehicle model, and the road on which the vehicle runs is assumed to be horizontal, and the formula for describing the longitudinal non-linear dynamics of the vehicle can be as in formula (1):
Figure BDA0001728592150000111
wherein, TeAs the engine torque, igTo the transmission ratio, i0For differential ratio, ηTFor mechanical efficiency of the drive train, KtIs the torque ratio of the torque converter, rwIs the rolling radius of the driving wheel, M is the mass of the vehicle, upsilon is the running speed of the vehicle, and CaIs the coefficient of air resistance, FfIs the tire rolling resistance.
In order to describe the longitudinal dynamics of the workshop, the expression for determining the relative speed Delnu and the distance deviation Deltad of the vehicle and the front vehicle is shown as the formula (2):
Figure BDA0001728592150000129
wherein upsilon ispIs the running speed of the front vehicle, upsilon is the running speed of the vehicle, d is the actual distance between the vehicle and the front vehicle, and ddesThe safe distance between the vehicle and the front vehicle is the safe distance between the vehicle and the front vehicle which is expected to be reached.
Referring to a linear vehicle distance model in the related art, a safe distance calculation formula (3) can be obtained:
ddes＝τhυp+d0(3)
wherein d isdesIs the safe distance between the vehicle and the front vehicle, tauhRetardation time, upsilon, for vehicle brakingpThe running speed of the preceding vehicle, d0The distance between the two vehicles when the front vehicle and the vehicle stop.
The longitudinal dynamic relation of the workshop can be obtained according to Newton's second motion law
Figure BDA0001728592150000123
Respectively deriving Δ d and Δ ν, and substituting into formula (1) to obtain a two-state following model based on the least sensors, as shown in formula (4):
Figure BDA0001728592150000124
wherein the content of the first and second substances,
Figure BDA0001728592150000125
Teas the engine torque, igTo the transmission ratio, i0For differential ratio, ηTFor mechanical efficiency of the drive train, KtIs the torque ratio of the torque converter, rwM is the mass of the vehicle, which is the rolling radius of the driving wheels. When the gear of the vehicle is fixed, the two-state following model is not linearAnd (5) changing the system. For the automatic following system, although the vehicle needs to continuously adjust the running speed of the vehicle following the surrounding environment, the gear shifting process does not occur frequently, so that the model parameters do not change for a relatively long time, and thus the model can be approximated as a time-invariant system.
Further, the second-order nonlinear single-input single-output system can be expressed by equation (5):
Figure BDA0001728592150000126
wherein x is [ x ]1,x2]TFor the system state, f (x, t) is an unknown function representing the internal disturbance of the system, u (t) is the control input, and d (t) is the external disturbance.
In order to further improve the convergence speed of the system state in the sliding mode stage, expand the selection range of design parameters, and improve the flexibility of controlling the design of the system state and the flexibility of designing a controller, an embodiment of the present invention provides an improved non-singular fast terminal sliding mode (NFTSM) control method, in which the control method relates to a sliding mode hyperplane s, a control law u, and a convergence law u
Figure BDA0001728592150000128
Respectively as follows:
Figure BDA0001728592150000127
Figure BDA0001728592150000131
Figure BDA0001728592150000132
wherein the design parameter α, ρ1,ρ2∈R+，1＜b＜2，a>b，c1>1，0＜c2＜1，
Figure BDA0001728592150000133
Is the euclidean norm of the system state variables.
The following control based on the minimum sensor is intended to realize the tracking of the traveling speed of the host vehicle to the traveling speed of the preceding vehicle and the tracking control of the actual distance between the host vehicle and the preceding vehicle to the desired safe distance, independently of acceleration information, when the host vehicle accelerates or decelerates. Because the established two-state following vehicle model, namely formula (4), is not completely consistent with the second-order nonlinear single-input single-output system, namely formula (5), the definition
Figure BDA0001728592150000134
Δ ν is the relative velocity between the host vehicle and the preceding vehicle, τhRetardation time, upsilon, for vehicle brakingpIn the case of the traveling speed of the preceding vehicle, equation (4) can be rewritten as equation (9):
Figure BDA0001728592150000135
due to the lack of the acceleration information of the front vehicle,
Figure BDA0001728592150000136
and
Figure BDA0001728592150000137
the term is no detectable external interference; at the same time
Figure BDA0001728592150000138
In due to the inclusion of
Figure BDA0001728592150000139
The term can not be measured by a vehicle-mounted radar, and the fluctuation running of the acceleration of the vehicle is considered in the actual running process, so that the Delta upsilon can be used for replacing
Figure BDA00017285921500001310
And performing feedback control. Based on the improved NFTSM control mode provided by the embodiment of the invention, the following control law can be obtained by the following formula:
Figure BDA00017285921500001311
wherein s is a sliding mode variable,
Figure BDA00017285921500001312
u is a following vehicle control law, Δ d is a distance deviation, Δ upsilon is a relative speed, upsilon is a running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1 < b < 2, a>b，c1>1，0＜c2＜1，α,β,ρ1,ρ2∈R+。
In summary, according to the automatic car following method provided by the embodiment of the present invention, the non-singular fast terminal sliding mode control manner is adopted to control the car to run according to the running speed of the preceding car, the actual distance between the car and the preceding car, and the running speed of the car, so that the car can smoothly and fast follow the preceding car to run. The acceleration of the vehicle does not need to be detected in the whole automatic vehicle following process, so an observer does not need to be used, the overlarge safety distance between the vehicle and a front vehicle during automatic vehicle following is avoided, the vehicle following effect is improved, and the traffic passing efficiency is improved.
It should be noted that the sequence of the steps of the automatic car following method provided by the embodiment of the present invention may be appropriately adjusted, and the steps of the automatic car following method may also be increased or decreased according to the situation. Any method that can be easily conceived by those skilled in the art within the technical scope of the present disclosure is covered by the protection scope of the present disclosure, and thus, the detailed description thereof is omitted.
Fig. 9 is a schematic structural diagram of an automatic car following device 800 according to an embodiment of the present invention, and as shown in fig. 9, the automatic car following device 800 includes:
the obtaining module 810 is configured to obtain driving data of a preceding vehicle, which is acquired by the vehicle-mounted radar, where the preceding vehicle and the host vehicle are located in the same lane, and a relative distance between the preceding vehicle and the host vehicle is the smallest.
And a determining module 820, configured to determine a following control law by using a nonsingular fast terminal sliding mode control manner according to the driving data of the preceding vehicle and the driving data of the vehicle, where the following control quantity is used to indicate a relationship among a driving speed of the vehicle, a relative speed of the vehicle and the preceding vehicle, and a distance deviation, where the distance deviation is a difference between an actual distance between the vehicle and the preceding vehicle and a safe distance between the vehicle and the preceding vehicle.
And the control module 830 is configured to control the vehicle to run according to the following control law.
The running data of the front vehicle comprises the running speed of the front vehicle and the actual distance between the front vehicle and the vehicle, and the running data of the vehicle comprises the running speed of the vehicle.
Optionally, the determining module 820 is configured to:
determining a safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle;
determining the difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain a relative speed;
determining the difference value between the actual distance and the safe distance to obtain the distance deviation;
determining a following control law by adopting a following control law calculation formula according to the relative speed, the distance deviation and the running speed of the vehicle;
wherein, the safe distance formula is as follows: ddes＝τhυp+d0，，ddesFor a safe distance, τhRetardation time, upsilon, for vehicle brakingpThe running speed of the preceding vehicle, d0The distance between the two vehicles when the front vehicle and the vehicle stop,
the following control law calculation formula is as follows:
Figure BDA0001728592150000141
Figure BDA0001728592150000142
u is a following vehicle control law, Δ d is a distance deviation, Δ upsilon is a relative speed, upsilon is a running speed of the vehicle, and CaIs an air resistance coefficient, M isMass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1 < b < 2, a>b，c1>1，0＜c2＜1，α,β,ρ1,ρ2∈R+。
Optionally, as shown in fig. 10, the control module 830 includes:
the first determining submodule 831 is configured to determine that the traveling mode of the host vehicle is the acceleration mode when the following control law is less than 0, and control the displacement amount of the accelerator pedal of the host vehicle according to the following control law.
The second determining submodule 832 is configured to determine that the traveling mode of the host vehicle is a deceleration mode when the following control law is not less than 0, and control the displacement amount of the brake pedal of the host vehicle according to the following control law.
Optionally, the first determining sub-module 831 is configured to:
determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following vehicle control law;
searching a target throttle opening value corresponding to the target engine torque from a first corresponding relation, wherein the first corresponding relation is used for recording the corresponding relation between the engine torque and the throttle opening value;
searching a target displacement of the accelerator pedal corresponding to the target accelerator opening value from a second corresponding relation, wherein the second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal;
adjusting the displacement of the accelerator pedal to be the target displacement of the accelerator pedal;
the engine torque is calculated by the formula
Figure BDA0001728592150000151
Wherein, TeTarget engine torque, u vehicle following control law, igTo the transmission ratio, i0For differential ratio, ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwIs the rolling radius of the driving wheel.
A second determination submodule 832 for:
searching a target displacement of the brake pedal corresponding to the vehicle following control law from a third corresponding relation, wherein the third corresponding relation is used for recording the corresponding relation between the vehicle following control law and the displacement of the brake pedal;
the displacement amount of the brake pedal is adjusted to the target displacement amount of the brake pedal.
In summary, the automatic car following device provided in the embodiment of the present invention can control the car to run by using a nonsingular fast terminal sliding mode control method according to the running speed of the preceding car, the actual distance between the car and the preceding car, and the running speed of the car, and the car can stably and fast follow the preceding car without detecting the acceleration of the car, so that an observer is not needed, the safety distance between the car and the preceding car during automatic car following is prevented from being too large, the car following effect is improved, and the traffic efficiency is improved.
An embodiment of the present invention further provides another automatic car following device 900, as shown in fig. 11, the automatic car following device 900 includes: the memory 910, the processor 920 and the computer program 911 stored on the memory 910 and operable on the processor 920, when the processor 920 executes the computer program 911, the method for automatic car following provided by the above embodiments is implemented, and the method can be as shown in fig. 2 or fig. 3.
The embodiment of the invention also provides a computer readable storage medium, which is a nonvolatile readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the automatic car following method provided by the embodiment.
The embodiment of the invention also provides a computer program product containing instructions, and when the computer program product runs on a computer, the computer is enabled to execute the automatic car following method provided by the embodiment.
The embodiment of the invention also provides a chip, which comprises a programmable logic circuit and/or a program instruction and is used for executing the automatic car following method provided by the embodiment when the chip runs.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the specific working processes of each step in the reference method embodiment, and are not described herein again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (8)

1. An automatic car following method, characterized in that the method comprises:
acquiring running data of a front vehicle acquired by a vehicle-mounted radar, wherein the front vehicle and a vehicle are positioned in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum;
determining a following control law in a nonsingular rapid terminal sliding mode control mode according to the running data of the front vehicle and the running data of the vehicle, wherein the following control law is used for indicating the relation among the running speed of the vehicle, the relative speed of the vehicle and the front vehicle and distance deviation, and the distance deviation is the difference between the actual distance between the vehicle and the front vehicle and the safe distance between the vehicle and the front vehicle;
controlling the vehicle to run according to the following control law;
the running data of the front vehicle comprises the running speed of the front vehicle and the actual distance between the self vehicle and the front vehicle, and the running data of the self vehicle comprises the running speed of the self vehicle;
determining a following control law by adopting a nonsingular rapid terminal sliding mode control mode according to the driving data of the front vehicle and the driving data of the vehicle, wherein the following control law comprises the following steps:
determining the safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle;
determining the difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain the relative speed;
determining the difference value between the actual distance and the safe distance to obtain the distance deviation;
determining a following control law by adopting a following control law calculation formula according to the relative speed, the distance deviation and the running speed of the vehicle;
wherein the safe distance formula is: ddes＝τhυp+d0D is saiddesFor the safety distance, thehIs vehicle brake hysteresis time, said υpIs the running speed of the preceding vehicle, d0Is the distance between the two vehicles when the front vehicle and the host vehicle stop,
the following control law calculation formula is as follows:
Figure FDA0002404476980000011
Figure FDA0002404476980000012
u is the following control law, Δ d is the distance deviation, Δ upsilon is the relative speed, upsilon is the running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1<b<2，a>b，c1>1，0<c2<1，α,β,ρ1,ρ2∈R+。
2. The method according to claim 1, wherein said controlling the host vehicle to travel according to the following control law comprises:
when the following control law is less than 0, determining that the running mode of the vehicle is an acceleration mode, and controlling the displacement of an accelerator pedal of the vehicle according to the following control law;
and when the following control law is not less than 0, determining that the running mode of the vehicle is a deceleration mode, and controlling the displacement of the brake pedal of the vehicle according to the following control law.
3. The method of claim 2, wherein said controlling an amount of displacement of an accelerator pedal of said host vehicle in accordance with said follow-up control law comprises:
determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following control law;
searching a target throttle opening value corresponding to the target engine torque from a first corresponding relation, wherein the first corresponding relation is used for recording the corresponding relation between the engine torque and the throttle opening value;
searching a target displacement of the accelerator pedal corresponding to the target accelerator opening value from a second corresponding relation, wherein the second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal;
adjusting the displacement of the accelerator pedal to a target displacement of the accelerator pedal;
the engine torque is calculated by the formula
Figure FDA0002404476980000021
Wherein, T iseIs the target engine torque, u is the following control law, igFor the transmission ratio, i0For differential ratio, said ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwThe rolling radius of the driving wheel;
the controlling a displacement amount of a brake pedal of the host vehicle according to the following control law includes:
searching for the target displacement of the brake pedal corresponding to the following vehicle control law from a third corresponding relation, wherein the third corresponding relation is used for recording the corresponding relation between the following vehicle control law and the displacement of the brake pedal;
adjusting the displacement amount of the brake pedal to a target displacement amount of the brake pedal.
4. An automatic car following device, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring driving data of a front vehicle acquired by a vehicle-mounted radar, the front vehicle and a vehicle are positioned in the same lane, and the relative distance between the front vehicle and the vehicle is the minimum;
the determining module is used for determining a following control law in a nonsingular rapid terminal sliding mode control mode according to the running data of the front vehicle and the running data of the vehicle, wherein the following control law is used for indicating the running speed of the vehicle, the relative speed of the vehicle and the front vehicle and the relation between distance deviations, and the distance deviations are the difference values of the actual distance between the vehicle and the front vehicle and the safe distance between the vehicle and the front vehicle;
the control module is used for controlling the vehicle to run according to the following control law;
the running data of the front vehicle comprises the running speed of the front vehicle and the actual distance between the self vehicle and the front vehicle, and the running data of the self vehicle comprises the running speed of the self vehicle;
the determining module is configured to:
determining the safe distance by adopting a safe distance calculation formula according to the running speed of the front vehicle;
determining the difference value between the running speed of the front vehicle and the running speed of the vehicle to obtain the relative speed;
determining the difference value between the actual distance and the safe distance to obtain the distance deviation;
determining a following control law by adopting a following control law calculation formula according to the relative speed, the distance deviation and the running speed of the vehicle;
wherein the safe distance formula is: ddes＝τhυp+d0D is saiddesFor the safety distance, thehIs vehicle brake hysteresis time, said υpIs the running speed of the preceding vehicle, d0Is the distance between the two vehicles when the front vehicle and the host vehicle stop,
the following control law calculation formula is as follows:
Figure FDA0002404476980000031
Figure FDA0002404476980000032
u is the following control law, Δ d is the distance deviation, Δ upsilon is the relative speed, upsilon is the running speed of the vehicle, and CaIs the coefficient of air resistance, M is the mass of the vehicle, FfFor the tire rolling resistance, the design parameters satisfy: 1<b<2，a>b，c1>1，0<c2<1，α,β,ρ1,ρ2∈R+。
5. The apparatus of claim 4, wherein the control module comprises:
the first determining submodule is used for determining that the running mode of the vehicle is an acceleration mode when the following control law is less than 0, and controlling the displacement of an accelerator pedal of the vehicle according to the following control law;
and the second determining submodule is used for determining that the running mode of the vehicle is a deceleration mode when the following control law is not less than 0, and controlling the displacement of the brake pedal of the vehicle according to the following control law.
6. The apparatus of claim 5, wherein the first determining submodule is configured to:
determining the target engine torque of the vehicle by adopting an engine torque calculation formula according to the following control law;
searching a target throttle opening value corresponding to the target engine torque from a first corresponding relation, wherein the first corresponding relation is used for recording the corresponding relation between the engine torque and the throttle opening value;
searching a target displacement of the accelerator pedal corresponding to the target accelerator opening value from a second corresponding relation, wherein the second corresponding relation is used for recording the corresponding relation between the accelerator opening value and the displacement of the accelerator pedal;
adjusting the displacement of the accelerator pedal to a target displacement of the accelerator pedal;
the engine torque is calculated by the formula
Figure FDA0002404476980000041
Wherein, T iseIs the target engine torque, u is the following control law, igFor the transmission ratio, i0For differential ratio, said ηTFor driveline mechanical efficiency, M is the mass of the vehicle, KtIs the torque ratio of the torque converter, rwThe rolling radius of the driving wheel;
the second determining submodule is configured to:
searching for the target displacement of the brake pedal corresponding to the following vehicle control law from a third corresponding relation, wherein the third corresponding relation is used for recording the corresponding relation between the following vehicle control law and the displacement of the brake pedal;
adjusting the displacement amount of the brake pedal to a target displacement amount of the brake pedal.
7. An automatic car following device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the automatic car following method according to any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the automatic car following method according to any one of claims 1 to 3.
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