CN110758392A - Autonomous lane change control method for passenger car - Google Patents
Autonomous lane change control method for passenger car Download PDFInfo
- Publication number
- CN110758392A CN110758392A CN201910988565.8A CN201910988565A CN110758392A CN 110758392 A CN110758392 A CN 110758392A CN 201910988565 A CN201910988565 A CN 201910988565A CN 110758392 A CN110758392 A CN 110758392A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- speed
- millimeter wave
- target
- target obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008859 change Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 5
- 238000011160 research Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/10—Buses
-
- 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
-
- 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
- B60W2520/105—Longitudinal acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention belongs to the technical field of vehicle control, and particularly relates to an autonomous lane change control method for a passenger car. The method comprises the following effective steps: firstly, judging whether a target obstacle exists in a vehicle running track through the millimeter wave radars in front of, on the left side of and on the right side of the vehicle, if the target obstacle does not exist, normally running, and continuously executing detection work by the millimeter wave radars; if the target obstacle exists, detecting target information such as the relative position of the target obstacle, the relative speed of the target obstacle, the width of the target obstacle and the like through a millimeter wave radar; if the front millimeter wave radar judges that the target obstacle is not in the running track of the vehicle, the millimeter wave radar continues to execute detection work; the vehicle continues to run at the set speed; the invention provides the autonomous lane change control method for the passenger car, which can effectively avoid collision with a front car and ensure the safety of the car, thereby reducing the driving fatigue of a driver in the process of finishing the driving of the car.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to an autonomous lane change control method for a passenger car.
Background
With the increasing of automobiles in China, convenience is brought to people, and meanwhile potential safety hazards are brought to people. The automatic driving of the expressway is a hot spot in current intelligent driving research, and because the expressway has certain closure and the scene is relatively simple, the automatic driving of the expressway can be quickly implemented in practical application in the field of intelligent driving research. In the process of running on a highway, lane change is a vehicle behavior with extremely high occurrence frequency. Meanwhile, in the lane changing process, traffic accidents and road congestion are easy to happen, so that the research on automatic lane changing of the expressway is necessary and meaningful.
Disclosure of Invention
Aiming at the problems of the autonomous lane change control, the invention provides the autonomous lane change control method for the passenger car, which has the advantages of reasonable design, simple method, safety and reliability.
In order to achieve the purpose, the invention adopts the technical scheme that the invention provides an autonomous lane change control method for a passenger car, which comprises the following effective steps:
a. firstly, judging whether a target obstacle exists in a vehicle running track through the millimeter wave radars in front of, on the left side of and on the right side of the vehicle, if the target obstacle does not exist, normally running, and continuously executing detection work by the millimeter wave radars;
b. if the target obstacle exists, detecting target information such as the relative position of the target obstacle, the relative speed of the target obstacle, the width of the target obstacle and the like through a millimeter wave radar;
c. if the front millimeter wave radar judges that the target obstacle is not in the running track of the vehicle, returning to the step a, and continuing to perform detection work by the millimeter wave radar; the vehicle continues to run at the set speed;
d. if the front millimeter wave radar judges that the target obstacle is in the running track of the vehicle, the target obstacle is judged to be a front obstacle vehicle, the speed of the vehicle is compared with that of the front obstacle vehicle, if the absolute value of the speed of the vehicle minus the speed of the vehicle is within the allowable speed difference or the speed of the vehicle minus the speed of the vehicle is greater than a high-speed threshold, the vehicle follows the vehicle in a self-adaptive manner, if the absolute value of the speed of the vehicle minus the speed of the vehicle is not within the allowable speed difference or the speed of the vehicle is 0 or the speed of the front obstacle vehicle is less than a low-speed threshold, the left vehicle is judged to be enough to have the target obstacle according to the left millimeter wave radar, and if the left millimeter wave radar judges that the target obstacle is not available, the left lane-changing overtaking is carried out;
e. if the millimeter wave radar on the left side judges that no target obstacle exists, the vehicle follows the vehicle in a self-adaptive manner.
Preferably, the adaptive car following method comprises the following effective steps:
a1, firstly, judging whether the distance between the front obstacle vehicle and the vehicle is larger than the minimum safe distance of the vehicle; if the distance between the front obstacle vehicle and the vehicle does not meet the minimum safe distance, controlling a braking system to emergently brake the vehicle;
a2, if the distance between the target and the vehicle is larger than the minimum safe distance of the vehicle, the following of the target can be realized by data adjustment responding to the change of the vehicle distance between the target and the vehicle, the target speed, the target acceleration, the vehicle speed and the vehicle acceleration parameter.
Preferably, the step d further includes that after the vehicle is lane-changed and overtaking, the right millimeter wave radar determines whether a target obstacle exists on the right side, if so, the vehicle continues to run straight, the right millimeter wave radar continues to operate, and if not, the vehicle is lane-changed back to the original lane to continue to run straight.
Compared with the prior art, the invention has the advantages and positive effects that,
the invention provides the automatic lane changing control method for the passenger car, which can effectively avoid collision with a front car and ensure the safety of the car. After the vehicle enters the autonomous lane changing mode, the vehicle can autonomously surpass the front vehicle or avoid the front obstacle, so that the driving fatigue of a driver is relieved in the process of finishing the driving of the vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a flow chart of an autonomous lane change control method for a passenger car according to the present invention;
fig. 2 is a single shift curve of the pilot preview.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Embodiment 1, as shown in fig. 1, this embodiment provides an autonomous lane change control method for a passenger car, and first, millimeter wave radars 1 are arranged at a front middle position, and on a left side and a right side of a vehicle, a detection distance of the millimeter wave radars 1 is at least over 100 meters, the millimeter wave radars 1 are connected with an auxiliary controller 3 through an intelligent auxiliary CAN line 2, and the auxiliary controller 3 is an existing auxiliary controller that is commonly used. In this way, the front, left, and right millimeter wave radars 1 are sensing systems, the auxiliary controller 3 is a control system for performing data processing, and the drive-by-wire 12 and the steer-by-wire 11 are execution systems of the entire vehicle.
After the driver turns on the auxiliary control system switch 13, the vehicle enters an auxiliary driving mode, and the auxiliary controller can perform auxiliary operation according to actual conditions. When the driver turns off the assist controller system switch 13, the vehicle travels in the normal mode, and the host vehicle execution system does not execute any operation other than the driver even if there is an obstacle in front of the vehicle.
When the vehicle enters the auxiliary control mode, the relative position of the target obstacle, the relative speed of the target obstacle, the width of the target obstacle and other information detected by the front millimeter wave radar 1, the left millimeter wave radar and the right millimeter wave radar detect whether the adjacent lanes have the obstacle and output the information such as distance, and the information is input to the auxiliary controller 3 through the CAN line 2.
The auxiliary controller 3 processes and analyzes the received information, so that when the steering wheel angle of the vehicle is 0 degrees (if straight running is carried out, the steering wheel angle is 0 degrees), the vehicle is in a straight running state, the target obstacle detected by the millimeter wave radar 1 is 45 degrees in front of the left of the vehicle, the distance is 7 meters, the width of the target 4 is 2.4 meters, the width of the vehicle is also 2.4 meters, the calculated target 4 is not in the running track of the vehicle, the vehicle performs a normal running 5 function, the auxiliary controller 3 does not perform any operation on the vehicle, and the vehicle continues to run at the original speed. In the present embodiment, since the front millimeter wave radar is provided in the middle of the vehicle, 45 ° is the range point, and a target obstacle smaller than 45 ° is generally in the lane in which the own vehicle is traveling, whereas a target obstacle larger than 45 ° is generally not in the lane in which the own vehicle is traveling.
If the steering wheel angle of the vehicle is 0 degrees at the moment, the vehicle is in a straight-ahead state, the target obstacle detected by the millimeter wave radar 1 is 5 degrees in front of the left side of the vehicle, the distance is 7 meters, the width of the target 4 is 2.4 meters, the width of the vehicle is also 2.4 meters, and the target 4 is calculated to be in the running track of the vehicle (if the radar detection angle is theta, the distance d is satisfied, if the radar detection angle is theta, the distance d is equal to
Then it is determined as the front obstacle vehicleIf not, wherein B is the vehicle width and delta is the front wheel corner), the target 4 is determined to be a front obstacle vehicle, then a relative vehicle speed determination mode is entered, and the vehicle speed of the vehicle target obstacle is compared and determined: the speed of the target 4 is V1, the speed of the vehicle is V2, | V1-V2| < Vk (allowable speed difference), at this moment, the system judges that the speed difference of the two vehicles is not large, and then the self-adaptive following vehicle 7 is executed; if V2-V1 > Vk (allowable speed difference) at the moment, the system judges that the speed difference of the two vehicles is large, and lane changing and overtaking are carried out 8; if V1-V2 is larger than Vh (high speed threshold), the system judges that the speed difference of the two vehicles is large, and the vehicles continue to run normally; and if the V1 is 0 or V1 < VS (low speed threshold), the front vehicle is judged to be stationary or the vehicle speed is small, and the lane changing and obstacle avoiding 9 is executed. If a vehicle is in the left lane of the vehicle in the lane changing overtaking 8 and lane changing obstacle avoidance 9 mode, the vehicle directly enters the self-adaptive following mode 7. It should be noted that the length of different vehicles is different, and for this reason, the allowable speed difference, the high speed threshold value and the low speed threshold value need to be set according to the actual vehicle situation, which are all common technologies in the art, and therefore, in the present embodiment, detailed description is not given.
The self-adaptive car following 7 only controls the speed of the vehicle, does not control the steering of the vehicle, and has the general working mode that the safe distance 5 is the minimum safe distance between the front car and the rear car, the minimum safe distance is L, if the auxiliary controller 3 judges that the distance between a target object in front of the vehicle and the car is L1, the target speed is V1, the acceleration is A1, the speed of the car is V2, the acceleration is A2, and the calculated L1 does not meet the minimum safe distance L, the drive-by-wire 7 carries out emergency braking on the vehicle, the car maximally ensures that the car collides with the target, and the speed of the car can be reduced even if the car cannot be completely braked, so that the collision injury of the car is relieved; if the auxiliary controller 3 judges that the distance between the target object in front of the vehicle and the vehicle is L2, the target speed is V1 and the acceleration is A1, the speed of the vehicle is V2 and the acceleration is A2, and the minimum safe distance L is met by calculating L2, the vehicle following of the front vehicle can be realized only by adjusting a smaller vehicle speed, the auxiliary controller outputs the vehicle speed required by the vehicle to the linear control drive 12, and the vehicle speed of the vehicle is controlled by the linear control drive. In order to ensure the safety of the auxiliary control system, after the vehicle enters the auxiliary control mode, the auxiliary controller 3 needs to send the millimeter wave radar 1 and information of the working state, fault information, auxiliary control system switch and the like of the whole vehicle.
The lane change overtaking 8 controls the speed and the steering (when lane change overtaking, the speed is increased to lambda (v)ego+vrelative) λ > 1, wherein vegoIs the speed of the bicycle, vrelativeRelative vehicle speed) steering angle is steered according to the driver's intended single-shift curve, as shown in fig. 2:
the following conditions are required to be met when lane changing overtaking is carried out: the vehicle is in operation in front of the vehicle, the speed of the vehicle is greater than that of the vehicle in front, the speed of the vehicle and the relative speed 6 of the two vehicles meet the overtaking condition, and no vehicle 10 exists in the left lane of the vehicle. There is the vehicle of operation in the front, vehicle left side millimeter wave radar 1 does not detect the left side lane line and has the barrier, satisfy lane change overtaking condition, auxiliary controller 3 control drive-by-wire 12 and steer-by-wire 11 carry out the functioning speed and the steering wheel corner of control vehicle, realize that the vehicle changes the lane from the left side and overtakes, accelerate so that surmount the vehicle fast after changing the lane, right side millimeter wave radar does not detect the vehicle in the lane line of right side after accomplishing the lane change, then through control steer-by-wire, change the former lane of lane back. If the right side has the vehicle all the time, the vehicle can run on the route after lane changing until the vehicle on the right side road can not be detected, and then the vehicle returns to the original lane line, thereby completing lane changing and overtaking.
The lane changing obstacle avoidance 9 mainly controls the steering wheel of the vehicle, when there is a vehicle in front of the vehicle which is static or has a very low speed, the auxiliary controller 3 will control the vehicle to change the lane, the specific operation is consistent with the overtaking, and only the speed control is not performed.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (3)
1. An autonomous lane change control method for a passenger car is characterized by comprising the following effective steps:
a. firstly, judging whether a target obstacle exists in a vehicle running track through the millimeter wave radars in front of, on the left side of and on the right side of the vehicle, if the target obstacle does not exist, normally running, and continuously executing detection work by the millimeter wave radars;
b. if the target obstacle exists, detecting target information such as the relative position of the target obstacle, the relative speed of the target obstacle, the width of the target obstacle and the like through a millimeter wave radar;
c. if the front millimeter wave radar judges that the target obstacle is not in the running track of the vehicle, returning to the step a, and continuing to perform detection work by the millimeter wave radar; the vehicle continues to run at the set speed;
d. if the front millimeter wave radar judges that the target obstacle is in the running track of the vehicle, the target obstacle is judged to be a front obstacle vehicle, the speed of the vehicle is compared with that of the front obstacle vehicle, if the absolute value of the speed of the vehicle minus the speed of the vehicle is within the allowable speed difference or the speed of the vehicle minus the speed of the vehicle is greater than a high-speed threshold, the vehicle follows the vehicle in a self-adaptive manner, if the absolute value of the speed of the vehicle minus the speed of the vehicle is not within the allowable speed difference or the speed of the vehicle is 0 or the speed of the front obstacle vehicle is less than a low-speed threshold, the left vehicle is judged to be enough to have the target obstacle according to the left millimeter wave radar, and if the left millimeter wave radar judges that the target obstacle is not available, the left lane-changing overtaking is carried out;
e. if the millimeter wave radar on the left side judges that no target obstacle exists, the vehicle follows the vehicle in a self-adaptive manner.
2. The method for controlling the autonomous lane change for passenger cars according to claim 1, wherein said adaptive following comprises the following effective steps:
a1, firstly, judging whether the distance between the front obstacle vehicle and the vehicle is larger than the minimum safe distance of the vehicle; if the distance between the front obstacle vehicle and the vehicle does not meet the minimum safe distance, controlling a braking system to emergently brake the vehicle;
a2, if the distance between the target and the vehicle is larger than the minimum safe distance of the vehicle, the following of the target can be realized by data adjustment responding to the change of the vehicle distance between the target and the vehicle, the target speed, the target acceleration, the vehicle speed and the vehicle acceleration parameter.
3. The method according to claim 2, wherein the step d further includes determining whether a target obstacle exists on the right side by the right millimeter wave radar after the vehicle has changed lane and overtaking, if so, continuing the straight-line driving of the vehicle, continuing the operation of the right millimeter wave radar, and if not, returning to the original lane to continue the straight-line driving of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910988565.8A CN110758392A (en) | 2019-10-17 | 2019-10-17 | Autonomous lane change control method for passenger car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910988565.8A CN110758392A (en) | 2019-10-17 | 2019-10-17 | Autonomous lane change control method for passenger car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110758392A true CN110758392A (en) | 2020-02-07 |
Family
ID=69332286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910988565.8A Pending CN110758392A (en) | 2019-10-17 | 2019-10-17 | Autonomous lane change control method for passenger car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110758392A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994076A (en) * | 2020-09-02 | 2020-11-27 | 中国第一汽车股份有限公司 | Control method and device for automatic driving vehicle |
| CN112660119A (en) * | 2021-01-14 | 2021-04-16 | 浙江吉利控股集团有限公司 | Vehicle rear collision early warning method |
| CN113264040A (en) * | 2020-02-14 | 2021-08-17 | 丰田自动车株式会社 | Vehicle control device |
| CN114394095A (en) * | 2022-01-24 | 2022-04-26 | 东风汽车集团股份有限公司 | ACC control method and device based on lane changing intention recognition of side front vehicle |
| CN114506346A (en) * | 2022-03-24 | 2022-05-17 | 重庆长安汽车股份有限公司 | Speed control method for automatic driving and storage medium |
| CN114643988A (en) * | 2022-05-20 | 2022-06-21 | 杭州宏景智驾科技有限公司 | Tracking target determination method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011076085A1 (en) * | 2011-05-19 | 2012-11-22 | Zf Friedrichshafen Ag | Method for supporting overtaking maneuver of motor vehicle, involves determining distance of motor vehicle to overtaking motor vehicle travelling in same traffic lane and speed of overtaking motor vehicle |
| CN103318176A (en) * | 2013-06-28 | 2013-09-25 | 郑州宇通客车股份有限公司 | Coach self-adaptive cruise control system and control method thereof |
| CN105599763A (en) * | 2016-01-22 | 2016-05-25 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
| CN110015297A (en) * | 2019-04-02 | 2019-07-16 | 北京海纳川汽车部件股份有限公司 | Self-adapting cruise control method, device and automatic driving vehicle |
| CN110040139A (en) * | 2019-04-16 | 2019-07-23 | 广州小鹏汽车科技有限公司 | The control method of vehicle and vehicle, device |
-
2019
- 2019-10-17 CN CN201910988565.8A patent/CN110758392A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011076085A1 (en) * | 2011-05-19 | 2012-11-22 | Zf Friedrichshafen Ag | Method for supporting overtaking maneuver of motor vehicle, involves determining distance of motor vehicle to overtaking motor vehicle travelling in same traffic lane and speed of overtaking motor vehicle |
| CN103318176A (en) * | 2013-06-28 | 2013-09-25 | 郑州宇通客车股份有限公司 | Coach self-adaptive cruise control system and control method thereof |
| CN105599763A (en) * | 2016-01-22 | 2016-05-25 | 奇瑞汽车股份有限公司 | Vehicle control method and device |
| CN110015297A (en) * | 2019-04-02 | 2019-07-16 | 北京海纳川汽车部件股份有限公司 | Self-adapting cruise control method, device and automatic driving vehicle |
| CN110040139A (en) * | 2019-04-16 | 2019-07-23 | 广州小鹏汽车科技有限公司 | The control method of vehicle and vehicle, device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113264040A (en) * | 2020-02-14 | 2021-08-17 | 丰田自动车株式会社 | Vehicle control device |
| CN113264040B (en) * | 2020-02-14 | 2024-01-16 | 丰田自动车株式会社 | vehicle control device |
| CN111994076A (en) * | 2020-09-02 | 2020-11-27 | 中国第一汽车股份有限公司 | Control method and device for automatic driving vehicle |
| CN112660119A (en) * | 2021-01-14 | 2021-04-16 | 浙江吉利控股集团有限公司 | Vehicle rear collision early warning method |
| CN114394095A (en) * | 2022-01-24 | 2022-04-26 | 东风汽车集团股份有限公司 | ACC control method and device based on lane changing intention recognition of side front vehicle |
| CN114394095B (en) * | 2022-01-24 | 2023-10-13 | 东风汽车集团股份有限公司 | ACC control method and device based on lane change intention recognition of side front vehicle |
| CN114506346A (en) * | 2022-03-24 | 2022-05-17 | 重庆长安汽车股份有限公司 | Speed control method for automatic driving and storage medium |
| CN114506346B (en) * | 2022-03-24 | 2023-11-21 | 重庆长安汽车股份有限公司 | Speed control method for automatic driving and storage medium |
| CN114643988A (en) * | 2022-05-20 | 2022-06-21 | 杭州宏景智驾科技有限公司 | Tracking target determination method and device, electronic equipment and storage medium |
| CN114643988B (en) * | 2022-05-20 | 2022-10-21 | 杭州宏景智驾科技有限公司 | Tracking target determination method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3611069B1 (en) | Vehicle control device | |
| CN110758392A (en) | Autonomous lane change control method for passenger car | |
| CN107719363B (en) | Control system and control method for guiding a motor vehicle along a path | |
| CN107145147B (en) | Vehicle low-speed automatic driving collision avoidance method and system | |
| US11639172B2 (en) | Control device for vehicle and control method of vehicle | |
| CN107731003B (en) | Control system and method for guiding a motor vehicle along a path and avoiding collisions | |
| US10266176B2 (en) | Vehicle collision avoidance assist system | |
| EP3539838A1 (en) | Vehicle control device | |
| CN101959743B (en) | Travel supporting control system | |
| US11186275B2 (en) | Vehicle control system | |
| WO2018074287A1 (en) | Vehicle control device | |
| WO2014122755A1 (en) | Drive assist device | |
| EP3549838A1 (en) | Vehicle control device | |
| CN112477856B (en) | Arbitration method and system for emergency steering | |
| CN112896157A (en) | Defensive driving control method, device and system, vehicle-mounted terminal and storage medium | |
| CN110799403A (en) | Vehicle control device | |
| US10351130B2 (en) | Vehicle control system | |
| CN110758391A (en) | Control method of self-adaptive cruise ACC system for passenger car | |
| CN108407807B (en) | Steering collision avoidance system of commercial vehicle and control method thereof | |
| EP4137378B1 (en) | Travel assistance method and travel assistance device | |
| CN109311476B (en) | Method and device for carrying out at least partially automated driving maneuvers | |
| US20220176948A1 (en) | Collision avoidance apparatus | |
| JP2006524603A (en) | Speed and spacing control equipment in automobiles. | |
| US20230234574A1 (en) | Vehicle driving assist device | |
| US20220371595A1 (en) | Control system and control method for detection and reaction of a zipper process for a motor vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200207 |