CN103057545A - Apparatus and method for controlling smart cruise - Google Patents
Apparatus and method for controlling smart cruise Download PDFInfo
- Publication number
- CN103057545A CN103057545A CN2012103192822A CN201210319282A CN103057545A CN 103057545 A CN103057545 A CN 103057545A CN 2012103192822 A CN2012103192822 A CN 2012103192822A CN 201210319282 A CN201210319282 A CN 201210319282A CN 103057545 A CN103057545 A CN 103057545A
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- cruise control
- intelligent cruise
- enters
- selected section
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000002093 peripheral effect Effects 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007717 exclusion Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 11
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B60W2420/408—
-
- 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
- B60W2520/06—Direction of travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
Abstract
The invention provides an apparatus and a method for controlling a smart cruise. Driver's different quality sense and exclusion sense are minimized by imagining selected object targets through more than one neighboring vehicles to execute an automatic driving similar to a common driving mode; and acceleration and deceleration generation amount can be reduced by two times according to change of vehicle distance under the control of the mart cruise when the neighboring vehicles are inserted during driving, thereby improving the driving feeling of the driver. Besides, the driver's different quality sense and exclusion sense are reduced by the smart cruise control considering traffic situation in front, so that stability is increased and an unease effect cannot sensed during the driving.
Description
Technical field
The present invention is a kind of intelligent cruise control setup and method of relating to, say that in more detail a kind of purpose of entering of utilizing nearby vehicle that relates to selectes intelligent cruise control object target, minimize thus driver's heterogeneous sense and repulsion sense, carry out intelligent cruise control setup and the method for the automatic running that is similar to general driving model.
Background technology
Usually, be the device of keeping Vehicle Speed with certain speed as constant-speed traveling with the cruise control apparatus that accelerates blocking device.Than at the more national highway of Ordinary road or signal control etc., mostly it is and can uses in the long-distance movement that utilizes express highway.
In the past, be selected in a plurality of target vehicles in the place ahead that will detect on the radar, the immediate target vehicle that exists at the travel direction of control vehicle is as the subject object of intelligent cruise control system.That is, select immediate target in the target in up the sailing of front line direction of control vehicle as the subject object of intelligent cruise control system.
But, as mentioned above, in a plurality of vehicles selected one during as subject object forwardly, as shown in Figure 1, and when travel situations forwardly changes, discountinuity that will certainly the generating object target information.
That is, such as Fig. 1 and shown in Figure 2,1. subject object is converted to subject object 2. the time, can be because the discountinuity that reduces suddenly to occur moving velocity of vehicle headway.
Aforesaid intelligent cruise control system is because be to utilize subject object information to decide control inputs, so the discountinuity of subject object information can cause the quick variation of input control and cause appearance to cause dysgenic problem to feeling by bus.
In other words, as shown in Figure 1, nearby vehicle 2. be inserted into control vehicle (subject vehicle) travel direction on the time, subject object is chosen to be before the vehicle of insertion, only can consider existing subject object vehicle, the problem that to react in advance the vehicle that inserts therefore can occur.
Summary of the invention
(technical matters that will solve)
The present invention is the wound case in order to improve the problems referred to above, the object of the present invention is to provide intelligent cruise control setup and method, utilize the purpose of entering of nearby vehicle to select intelligent cruise control object target, minimize thus driver's heterogeneous sense and repulsion sense, carry out the automatic running that is similar to general driving model.
In addition, the object of the present invention is to provide intelligent cruise control setup and method, when in intelligent cruise control is travelled, having suddenly nearby vehicle to insert, reduce the by bus sense that the acceleration-deceleration generating capacity that changes according to vehicle headway improves the driver.
In addition, the object of the present invention is to provide intelligent cruise control setup and method, reduce driver's repulsion sense and heterogeneous sense by the control policy of considering the place ahead traffic conditions, improve thus driver's convenience and driving safety.
(means of dealing with problems)
Intelligent cruise control method according to a side of the present invention is characterized in that, whether comprises the steps: to detect the first step of the purpose that enters of the peripheral object of the travel direction of oriented control vehicle; According to described testing result, do not exist described peripheral object enter purpose the time, utilize the radius of curvature of described travel direction and the position of the place ahead target to arrange and the second step of the immediate target of described control vehicle as intelligent cruise control object target; And according to described testing result, have described peripheral object enter purpose the time, the described purpose numerical value that enters is turned to and enters probability, is to arrange and the third step of the immediate target of described control vehicle as intelligent cruise control object target in the candidate target more than a reference value at the described probability that enters.
The invention is characterized in, in the described phase III, the described probability that enters is that utilization quantizes to the horizontal relative velocity of the described peripheral object of the travel direction of described control vehicle and horizontal relative distance.
Intelligent cruise control setup according to another side of the present invention is characterized in that, comprising: first object is selected section, comes selected target based on the travel direction of control vehicle and the position of the place ahead target; The second target is selected section, the purpose that the enters numerical value of peripheral object is turned to enter probability, comes selected target based on the described probability that enters; And based on the selected section of the target of situation, judge whether the purpose that enters of described peripheral object, do not exist described peripheral object enter purpose the time, utilize the selected section of described first object to select intelligent cruise control object target, have described peripheral object enter purpose the time, utilize the selected section of described the second target to select intelligent cruise control object target.
(effect of invention)
According to the present invention, because be to utilize the purpose of entering of nearby vehicle to select intelligent cruise control object target, can minimize thus driver's heterogeneous sense and repulsion sense, carry out the automatic running that is similar to general driving model.
In addition, when the present invention can have suddenly nearby vehicle to insert, reduce the by bus sense that the acceleration-deceleration generating capacity that changes according to vehicle headway improves the driver in intelligent cruise control is travelled.
As mentioned above, the present invention travels to reduce driver's repulsion sense and heterogeneous sense by considering the intelligent cruise control of the place ahead traffic conditions, can improve thus driver's convenience and driving safety.
Description of drawings
Fig. 1 is that explanation is having driving vehicle to be inserted in the situation of the front of controlling vehicle the schematic diagram of intelligent cruise running method in the past.
Fig. 2 illustrates when in the past intelligent cruise travels, the schematic diagram of the form velocity variations that causes because of the vehicle that inserts.。
Fig. 3 is that diagram is according to the block diagram of the intelligent cruise control setup formation of one embodiment of the invention.
The schematic diagram of Fig. 4 difference that to be explanation the present invention travel with in the past intelligent cruise.
Fig. 5 is that explanation is according to the diagram of circuit of the intelligent cruise control method of one embodiment of the invention.
(description of reference numerals)
101: 102: the second selected sections of target of the selected section of first object
103: based on the selected section of the target of situation
The specific embodiment
With reference to the accompanying drawings an embodiment of intelligent cruise control setup according to the present invention and method described.In this process, the thickness of the lines shown in the accompanying drawing or the size of structural constituent etc. are for the definition on illustrating may be amplified diagram with facility.And term described later is to consider the function among the present invention and the term that defines, and it can be according to user, operator's intention or convention and difference.Therefore, should be based on the content of this specification for the definition of this term and determine.
Fig. 3 is that diagram is according to the block diagram of the intelligent cruise control setup formation of one embodiment of the invention.
As shown in Figure 3, the intelligent cruise control setup according to one embodiment of the invention comprises: first object is selected section 101, comes selected target based on the travel direction of controlling vehicle; The second target is selected section 102, and the pattern analysis of based target is selected and entered the candidate target; Based on the selected section 103 of the target of situation, according to the purpose that enters (motion) that whether has peripheral object, utilize some in the selected section 101 of described first object or the selected section 102 of the second target to come selected target.
The selected section 101 of first object utilizes the position of radius of curvature and the place ahead target to select intelligent cruise control object target.
First object is selected section 101, utilize, shake the radius of curvature that speed and signals of vehicles are estimated by utilization, the immediate target that exists on the control vehicle heading is chosen to be intelligent cruise control object target, and described selected information output is selected section 103 to the target based on situation.
The second target is selected section 102, to be installed in the information that detects in the radar (not shown) on the vehicle as the basis, utilizes will enter purpose numerical value to the horizontal relative velocity of the travel direction of control vehicle and horizontal relative distance and turn to and enter probability.
That is, the second target is selected section 102, selectes the candidate target by receiving the place ahead target relative position information and the place ahead target relative velocity.
Afterwards, the second target is selected section 102, is entering in the target vehicle of probability more than a reference value selected immediate target as the candidate target, and described selected information output is selected section 103 to the target based on situation.
Based on the selected section 103 of the target of situation, detect the purpose that enters that whether has peripheral object, do not exist peripheral object enter purpose the time, utilize the subject object information of the selected section of first object 101 outputs to select intelligent cruise control object target.
On the contrary, have peripheral object enter purpose the time, can utilize the subject object information of the selected section of the second target 102 outputs to select intelligent cruise control object target based on the selected section 103 of the target of situation.
The schematic diagram of Fig. 4 difference that to be explanation the present invention travel with in the past intelligent cruise.
As shown in Figure 4, the following is, in the situation that have nearby vehicle to insert, the comparison of action of the present invention and mode in the past when using subject object generation method of the present invention.
At first, with reference to the vehicle headway chart, subject object is in the past selected mode (dotted line) because of one that only selects in the target of the place ahead, can be in the situation that there is insertion that the discountinuity of subject object occurs.Therefore can know, can discountinuity occur at the vehicle headway of 10m interval.
But, the method according to this invention (solid line) is controlled because considered simultaneously target and the insertion target that exists on the control vehicle heading and be reflected to intelligent cruise, therefore vehicle headway has obtained the variation of continuity ground, and can confirm, naturally be converted to the target of insertion in the complete rear subject object of situation of inserting.
Afterwards, with reference to control car speed chart, subject object is in the past selected mode (dotted line) because of one that only selects in the target of the place ahead, the meeting phenomenon that generation speed sharply descends in the insertion situation.
But, because begin until the moment that subject object is changed is fully controlled speed in the moment of occur inserting target, speed is reduced lentamente and hoisting speed naturally after subject object is changed fully according to method of the present invention (solid line).Therefore, the phenomenon that speed sharply descends or rises can not occur from the past different in the present invention.
At last, can confirm with reference to the vehicle acceleration chart, in the situation that there is vehicle to insert, than the selected mode of subject object in the past, the method according to this invention is more than the twice of the acceleration-deceleration in the same situation less than it.That is, the present invention can occur to slow down than method in the past and accelerate in about one second in advance.Therefore, can not occur to accelerate sharp and slow down according to the present invention, can improve thus driver's by bus sense.
Fig. 5 is that explanation is according to the diagram of circuit of the intelligent cruise control method of one embodiment of the invention.
As shown in Figure 5, can detect the purpose that the enters S101 that whether has peripheral object on the travel direction of controlling vehicle based on the selected section 103 of the target of situation.
If there is no peripheral object enter purpose the time, can utilize the subject object information of the selected section of first object 101 outputs to select intelligent cruise control object target S102 based on the selected section 103 of the target of situation.
On the contrary, have peripheral object enter purpose the time, can utilize the subject object information of the selected section of the second target 102 outputs to select intelligent cruise control object target S103 based on the selected section 103 of the target of situation.
The selected section 101 of first object utilizes the position of radius of curvature and the place ahead target to select intelligent cruise control object target, and will control the immediate target that exists on the vehicle heading and be chosen to be intelligent cruise control object target
The second target is selected section 102, will enter purpose numerical value turn to enter probability after, entering in the target vehicle of probability more than a reference value selected immediate target as the candidate target.
As mentioned above, by intelligent cruise control setup according to the present invention and method, because be to utilize the purpose of entering of nearby vehicle to select intelligent cruise control object target, can minimize thus driver's heterogeneous sense and repulsion sense, carry out the automatic running that is similar to general driving model.
In addition, when the present invention can have suddenly nearby vehicle to insert, reduce the by bus sense that the acceleration-deceleration generating capacity that changes according to vehicle headway improves the driver in intelligent cruise control is travelled.
As mentioned above, the present invention travels to reduce driver's repulsion sense and heterogeneous sense by considering the intelligent cruise control of the place ahead traffic conditions, can improve thus driver's convenience and driving safety.
Abovely describe the present invention with reference to the embodiment shown in the accompanying drawing, but this only is exemplary embodiment, the general technical staff of the technical field of the invention should be appreciated that and can therefrom realize various deformation and other embodiment that are equal to.
Claims (3)
1. an intelligent cruise control method comprises the steps:
Whether detect the first step of the purpose that enters of the peripheral object of the travel direction of oriented control vehicle;
According to described testing result, do not exist described peripheral object enter purpose the time, utilize the radius of curvature of described travel direction and the position of the place ahead target to arrange and the second step of the immediate target of described control vehicle as intelligent cruise control object target; And
According to described testing result, have described peripheral object enter purpose the time, the described purpose numerical value that enters is turned to and enters probability, is to arrange and the third step of the immediate target of described control vehicle as intelligent cruise control object target in the candidate target more than a reference value at the described probability that enters.
2. intelligent cruise control method according to claim 1 is characterized in that, in the described phase III,
The described probability that enters is that utilization quantizes to the horizontal relative velocity of the described peripheral object of the travel direction of described control vehicle and horizontal relative distance.
3. intelligent cruise control setup comprises:
First object is selected section, comes selected target based on the travel direction of control vehicle and the position of the place ahead target;
The second target is selected section, the purpose that the enters numerical value of peripheral object is turned to enter probability, comes selected target based on the described probability that enters; And
Based on the selected section of the target of situation, judge whether the purpose that enters of described peripheral object, do not exist described peripheral object enter purpose the time, utilize the selected section of described first object to select intelligent cruise control object target, have described peripheral object enter purpose the time, utilize the selected section of described the second target to select intelligent cruise control object target.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0090403 | 2011-09-06 | ||
| KR1020110090403A KR101877708B1 (en) | 2011-09-06 | 2011-09-06 | Apparatus for controlling smart cruise and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103057545A true CN103057545A (en) | 2013-04-24 |
| CN103057545B CN103057545B (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210319282.2A Active CN103057545B (en) | 2011-09-06 | 2012-08-31 | Intelligent cruise controls apparatus and method |
Country Status (2)
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| KR (1) | KR101877708B1 (en) |
| CN (1) | CN103057545B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105517867A (en) * | 2013-09-06 | 2016-04-20 | 丰田自动车株式会社 | Adaptive vehicle travel control apparatus based on lateral position and speed of a preceding vehicle |
| CN108473144A (en) * | 2016-01-07 | 2018-08-31 | 标致雪铁龙汽车股份有限公司 | Manipulate the control method of the automation driving assistance system of motor vehicles |
| CN109421705A (en) * | 2017-08-23 | 2019-03-05 | 丰田自动车株式会社 | Vehicle parking assistance device |
| TWI665113B (en) * | 2018-08-13 | 2019-07-11 | 鴻海精密工業股份有限公司 | Storage device, electronic device and automatic car following method |
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|---|---|---|---|---|
| KR102019319B1 (en) | 2013-05-27 | 2019-09-09 | 현대자동차(주) | Smart cruise apparatus and control method thereof |
| KR102190048B1 (en) * | 2014-05-20 | 2020-12-11 | 현대모비스 주식회사 | System and method for sharing information using radars of vehicle |
| US20180012492A1 (en) | 2015-02-06 | 2018-01-11 | Delphi Technologies, Inc. | Method of automatically controlling an autonomous vehicle based on electronic messages from roadside infrastructure or other vehicles |
| US10678261B2 (en) | 2015-02-06 | 2020-06-09 | Aptiv Technologies Limited | Method and apparatus for controlling an autonomous vehicle |
| WO2016126323A1 (en) * | 2015-02-06 | 2016-08-11 | Delphi Technologies, Inc. | Adaptive cruise control integrated with lane keeping assist system |
| KR102327649B1 (en) * | 2015-06-12 | 2021-11-17 | 현대모비스 주식회사 | Method and apparatus for keeping distance between vehicle |
| KR20200019295A (en) | 2018-08-09 | 2020-02-24 | 현대자동차주식회사 | System and method for setting optimal distance for front vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108473144A (en) * | 2016-01-07 | 2018-08-31 | 标致雪铁龙汽车股份有限公司 | Manipulate the control method of the automation driving assistance system of motor vehicles |
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| TWI665113B (en) * | 2018-08-13 | 2019-07-11 | 鴻海精密工業股份有限公司 | Storage device, electronic device and automatic car following method |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130026934A (en) | 2013-03-14 |
| CN103057545B (en) | 2016-06-22 |
| KR101877708B1 (en) | 2018-07-13 |
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