CN104210496B - System and method for modifying adaptive learning algorithms set point - Google Patents

Abstract

The invention discloses a kind of driver's performance mapping systems for Vehicular system.The system may include the GPS receiver for generating the GPS data for the current location for showing vehicle.In addition, the system can also have generation show current clearance distance from vehicle to front vehicles current clearance data radar installations.In addition, the system may include electronic controller, which is configured to generate the gap data of acquistion based on current clearance data and the gap data of storage, then GPS data is distributed to the gap data of acquistion.

Description

System and method for modifying adaptive learning algorithms set point

Technical field

The present invention relates to the adaptive cruise control systems of motor vehicles, more particularly relate to the driving of Vehicular system The method of member's performance mapping system and acquistion and modification driver's performance setting point.

Background technique

Adaptive cruise for the clearance distance between motor vehicles, control vehicle and another vehicle before it Control system (" ACC ") is known.These ACC systems are typically using the subsequent forward-looking radar for the grid for being mounted on vehicle Device, to detect the speed and distance of the vehicle before it.Based on these measurements, ACC system can automatically adjust vehicle Speed is to maintain apart from the scheduled distance of front vehicles.As an example, if front vehicles slow down or if detect vehicle Another object on road, ACC system can send signal so that vehicle deceleration to engine or braking system.Then, when When the coast is clear, system can make vehicle be accelerated back to the speed of setting and the clearance distance of setting.

In addition, typical ACC system may include being installed to the control switch of steering wheel to allow driver manually to adjust The setting of whole clearance distance.In this respect, driver can manually adjust these settings in real time to provide along travel route Various clearance distances or vehicular gap so that entire drive all within the scope of the level of comfort of driver.For example, driver can Along a part of on and off duty of the interstate highway for having lamp, high-speed transit and based on 100 kilometers (KPH) per hour of speed Degree adjusts the setting of ACC system to provide about 65 meters of clearance distance.It is merged in this way in for example a plurality of highway Highway relatively slow, the part that more blocks, driver can readjust ACC system to provide 30 meters of clearance gap From.Therefore, driver can manually select multiple scheduled clearance distances for the various pieces of route.

Summary of the invention

The invention discloses a kind of driver's performance mapping system (driver performance for Vehicular system mapping system).The embodiment of driver's performance mapping system may include the GPS for generating the current location for showing vehicle The GPS receiver of data.In addition, system can also have generation to show current clearance distance between vehicle and front vehicles The radar installations of current clearance data.In addition, system may include electronic controller, be configured to based on current clearance data and The gap data of storage generates the gap data of acquistion, then GPS data is distributed to the gap data of acquistion.

A kind of method the invention discloses acquistion and modification for driver's performance setting point of Vehicular system.This method One embodiment may include the step of receiving the GPS data of the current location for showing vehicle from GPS satellite.Method is also It may include the current clearance data for receiving the current clearance distance shown from vehicle to front vehicles from radar installations.This Outside, method can also include that the gap data of acquistion is generated based on current clearance data and the gap data of storage, then by GPS Data distribute to the gap data of acquistion.

Detailed description of the invention

Fig. 1 is the component of driver's performance mapping system and the example that this driver's performance mapping system can be used The conceptual view of property motor vehicle environment.

Fig. 2 is to illustrate in this method selectively storage location data to establish the illustrative steps of the map of travel route Flow chart.

Fig. 3 is the conceptual view of step shown in the flow chart of Fig. 2.

Fig. 4 is to illustrate selectively to store altitude information in this method to enhance the illustrative steps of the map of travel route Flow chart.

Fig. 5 is the conceptual view of step shown in the flow chart of Fig. 4.

Fig. 6 is to illustrate to match the route of vehicle current driving with the route previously stored, adjust for ACC The flow chart of the illustrative steps of the set point of system and the new speed and clearance distance of acquistion.

Specific embodiment

The invention discloses the speed data of gap data and acquistion for modifying acquistion and by the gap data of acquistion One embodiment of the system and method for the vehicle location along present running route is distributed to the speed data of acquistion.? In a kind of form, system can establish and utilize route localization and adaptive map.In particular, system can be located at it is motor-driven With vehicle sheet, the position data for being used for vehicle is regularly received from GPS satellite, and selectively store up based on certain standard Deposit some position datas.When vehicle is along route running, system can store the gap data and acquistion of the acquistion of vehicle Speed data.In this way, can locally be stored with the electronic storage space of relatively small amount related with the particular course of vehicle driving Map datum and vehicle performance data.Locally-stored map and performance data may specific to the vehicle for recording the data or It may be specific to the selected driver for driving vehicle.Locally-stored map datum can be same in subsequent travelling Vehicle is used for the scheduled vehicle driving road of preview.Locally-stored performance data can in subsequent travelling with ACC system Collaboration is for adjusting the performance of vehicle according to history driving habit related with the vehicle on the relevant position for being in route.It is public The method opened may not depend on map predetermined and not need to the communication link of outside vehicle data (although not having There are the possibility use or reciprocation for excluding these maps and/or communication link predetermined).On the contrary, disclosed system System can obtain the position data and vehicle performance data of the practical driving road for vehicle, and in same driving road It is subsequent travelling in use these self-defining datas.

Fig. 1 illustrates exemplary motor vehicle 1, and system 10 can be used in motor vehicles 1, is used to establish localization ground Scheme and modifies the ACC set point for history drive route.System 10 at least may include electronic controller 100, can at least lead to Letter memory 110, vehicle electronics storage device 120, GPS receiver 130, radar installations 140 are couple to (for example, forward sight thunder Up to device) and vehicle-wheel speed sensor 150.Controller 100, which can receive, to be generated by GPS receiver 130 and shows vehicle Current location GPS data.It is generated by radar installations 140 and is shown from vehicle in addition, controller 100 can be configured to receive To front vehicles current clearance distance current clearance data.Controller 100 can further be configured to receive by vehicle Wheel speed sensor 150 generates and shows the speed data of the present speed of vehicle.However, controller can receive it is other each Kind vehicle sensors data generated.By using the method and algorithm being described below, GPS data is can be used in controller To generate the map of the acquistion for the route that vehicle is exercised and further distribute the route of acquistion with the gap number of acquistion According to the speed data with acquistion.

Fig. 2 illustrates that statement storage is executed in the memory 110 and by controller 100 to obtain position data and effectively Establish the flow chart of the basic functional steps of the algorithm of " map " of the variation route of motor vehicles real time running.Fig. 3 is conceptually simultaneously Method illustrated by the flow chart of Fig. 2 is diagrammatically illustrated.With reference to Fig. 3, the continuous geographical location in land surface be pass through through Circle shown on degree/latitude figure (being highly not shown) is described.Biggish filled circles 310a-310e and lesser round 320a-320k Both the point when regularly sampling the geographical location of vehicle is depicted (that is, the longitude of the vehicle location obtained from GPS satellite And latitude data).Lat/longitude data related with biggish filled circles 310a-310e can be stored in storage by system For later when traveling is in same road in the future for vehicle by system retrieval and use on device 120.It abandons and lesser circle The related data of 320a-320k.Great circle 310a-310e is considered as " nodes of locations ", by connecting nodes of locations 310a-310e It is connected together, nodes of locations is later used to identify and limit the route of previous trip.

Nodes of locations 310a illustrates the first sampling position data of the vehicle on variation route.Therefore, system can store up Deposit " beginning " or the starting point that position data related with nodes of locations 310 is route.System then can regularly obtain or Sample vehicle with GPS receiver 130 received from the GPS satellite related longitude in position and latitude data at that time.When the position of sampling Data are set to fall in by the combination of parallel threshold (parallel threshold) and vertical threshold (perpendicular threshold) Defined by " envelope (envelope) " outside when, system can make storage present sample position data be position save The decision of point (for example, nodes of locations 310b-310e).

Parallel threshold 330 can be the distance between two imaginary parallel lines on opposite sides of vehicle, vehicle this two It is placed in the middle between the imaginary parallel lines of item.Parallel lines can be by vehicle in the traveling side at that moment in the direction of any given time To being limited.For example, parallel threshold 330 shown in Fig. 3 is shown as being orientated in vertical direction, because the direction of travel of vehicle is hanging down Histogram is upward.The value (the distance between dotted line) of parallel threshold 330 may be value predetermined or it may be programmable Variable value.Parallel threshold 330 is in practice likely to be any value (for example, parallel threshold 330 may be 1 meter, 2 meters, 3 meters etc.).Vertically Threshold 340 can be (predetermined or variable) distance defined by the direction of travel along vehicle.For in forward side The vehicle travelled upwards, vertical threshold 340 typically start at the nodes of locations of storage and exist along the direction of travel of vehicle Extend before vehicle.For the vehicle travelled in a rearward direction, vertical threshold 340 can be opened at the nodes of locations of storage Begin and to vehicle below extension.The value of vertical threshold is in practice likely to be any distance, such as 3 meters, 5 meters, 7 meters etc..Meanwhile Parallel and vertical threshold can be defined around " envelope " of the vehicle of traveling.It can abandon when vehicle is inside envelope (inside parallel and vertical threshold) position data obtained, the position data use roundlet 320a-320k explanation in Fig. 3.So And when the outside of vehicle to envelope (vehicle to the outside of parallel or vertical threshold), then system can be in storage device 120 Upper storage current location data is nodes of locations 310.In this way, whenever vehicle is from its current going direction changing a certain distance When, this is more than detected by parallel threshold 330 by vehicle location, and the position data of vehicle can be stored as nodes of locations 310.Often When distance (parallel threshold inside) of the vehicle along the traveling definition of same direction of travel, this is more than vertical by vehicle location Detected by threshold 340, the position data of vehicle is also stored as nodes of locations 310.The nodes of locations 310a-310e of storage later can With the road for limiting this particular vehicle previous trip, during the subsequent travelling along same route, the road Driver can be showed on the display screen.Envelope is smaller (that is, parallel threshold and/or vertical threshold are bigger), by what is be stored Nodes of locations more than 310, the size of space for the map being generated or resolution ratio is finer.Envelope is bigger, the interval of map Size or resolution ratio are more coarse.Certainly, the finer size of space or resolution ratio need biggish storage on storage device 120 Amount.

Fig. 2 illustrates to be executed as controller 100 to obtain position data and establish as above with respect to described in Fig. 3 The step of map.With reference to Fig. 2, envelope is dimensioned, i.e., determines in step 210 in parallel and vertical threshold.Then, exist In step 220, system can sample the vehicle position data from GPS satellite.Then, in step 230, controller 100 can Determine vehicle whether inside envelope with the vehicle position data based on sampling.That is, controller 100 can be determined that No vehicle is in 340 the inside of parallel threshold 330 and vertical threshold.As noted above, the value of vertical and parallel threshold can be in advance really Fixed or variable.If vehicle, inside envelope, then algorithm can loop back to step 220 and again regularly Sample the position of vehicle.On the other hand, if vehicle is not inside envelope (that is, in the outside of parallel or vertical threshold), so System can store current vehicle position data (longitude and latitude data) on storage device 120 (in step 240) afterwards For nodes of locations 310.After storage location node, algorithm can loop back to step 220 and again regularly sampling vehicle Position.The frequency of sampling can be predetermined or variable.In this way, one group of nodes of locations 310 can store and be provided with Retrieval afterwards, the nodes of locations 310 can connect together to limit and show the route of storage that vehicle is travelled.

It illustrates to establish the map for the route that vehicle travels in real time above for the method described of Fig. 2 and 3 and makes it The method being locally stored on vehicle is not needed to obtain map predetermined from suppliers and not needed to outside vehicle The communication connection of portion's data source.However, system is readily modified as using the map predetermined obtained from suppliers and makes Performance data associates with this map.

Above for the two-dimensional map of the route or travel by vehicle described of Fig. 2 and 3, the other of mapping travel route can be passed through Feature and enhance.For example, Figure 4 and 5 illustrate it is a kind of it is consistent with the method described in Fig. 2 and 3, storage and travel road The method of the related data of the height on road, can be retrieved by system after the data so that driver and such as ACC system this Control system preview inside the vehicle of sample is along the hills of route and other variations of apparent height.Fig. 5 conceptually and schemes The method for illustrating with showing to record altitude information related with travel route.Similar to previously described method, system can determine Sample to phase the altitude information of the current location for vehicle from GPS satellite.The altitude information of sampling is portrayed as in Fig. 5 Big filled circles 510a-510d and lesser round 520a-520w.It ibid, can be by parallel 530 He of threshold around the envelope of vehicle Vertical threshold 540 is limited, and both parallel threshold 530 and vertical threshold 540 can be predetermined or variable.Vertical threshold 540 can It can be the direction of travel along vehicle at a distance from pervious data sample.Parallel threshold 530 may be the traveling side along vehicle Distance between the two imaginary parallel lines extended in the upper surface of vehicle and below.When system has determined that vehicle has arrived packet The outside (by being more than parallel or vertical threshold) of winding thread, system can store altitude information, together with for vehicle on the storage means Geographic position data together as " height node " 510a-510d supply later retrieval.The height node 510a- of storage 510d can connect to create the height map for the height change for showing the route along previous trip to driver.

Fig. 4 is that explanation can be implemented as controller 100 to establish the method and step of the height map described in Fig. 5 Flow chart.In step 410, system can determine the height envelope as defined by the parallel threshold 530 of height and high perpendicular threshold 540 Line.Parallel and vertical height threshold can be predetermined or variable and can actually be any value.In step 420 In, the altitude information of the vehicle from GPS satellite can be sampled.In step 430, controller 100 can be made whether vehicle Inside height envelope, i.e., whether vehicle is in parallel 530 the inside of threshold of height and in 540 the inside of high perpendicular threshold.If Inside height envelope, then algorithm can loop back to step 420 regularly to sample the altitude information of vehicle again.With Come height of sampling data frequency can be it is predetermined or variable.If vehicle height envelope outside (that is, The outside of the parallel threshold 530 of height or high perpendicular threshold 540), then system can be obtained from GPS satellite (in step 440) Vehicle geodata, the geodata is related with the point outside vehicle to height envelope.Then, in step 450 In, system can be such that altitude information and geodata is stored in together as new " height node " on storage device 120 510a-510d.Then, algorithm can loop back to step 420 with regularly height of sampling data again.The height of these storages Degree node after can be retrieved and link together with generate along travel route height change (for example, hills) and Make driver's preview along the height change (for example, hills) of travel route when vehicle is travelled in same route in the future.

By the method for Fig. 2 and 3 map generated, whether with the altitude information according to the method illustrated in Figure 4 and 5 Enhance, can further be enhanced by being associated with and storing the other data obtained during route or travel by vehicle.For example, vehicle Speed, the clearance distance apart from front vehicles and other performance data can be associated and store, later, when vehicle is first Before " acquistion " route on when driving, which can be based on the drive manner of history for controlling or adjusting including ACC system Various Vehicular systems.Other data related with route can also be obtained.Generally, acquisition and map with acquistion it is related Data be known as with " correlated variables " related data.It according to known methods, can be various in vehicle from being incorporated into Known sensor and system obtain these data.Fig. 6 illustrate how obtain, storage and be associated with map with it is any required The related any data of correlated variables.

Fig. 6 is to illustrate to modify the route along previous acquistion using the data of storage related with the route of previous acquistion For operate ACC system various set points method flow chart.

In step 610, the location matches envelope of vehicle can be determined, in this case, envelope includes can be with It is latitude threshold and longitude threshold predetermined or variable.The size of location matches envelope can not depend on the use described previously In the size (being described about Fig. 2 and 3) of the position envelope of acquistion route.The purpose of this method is that location matches envelope is used In nodes of locations of the current location sufficiently close to existing storage for determining whether vehicle.That is if vehicle it is current The longitude and latitude data of position be the nodes of locations of previous acquistion latitude threshold and longitude threshold (that is, position envelope) it is inner Face, then system matches current location and the nodes of locations of previous acquistion.For this purpose, in step 620, system can pass through reception Position data from GPS satellite samples vehicle location.In act 630, controller 100 can determine the current vehicle of sampling Whether position is inside the position envelope of the nodes of locations of previous acquistion, that is, inside latitude threshold and longitude threshold.If no Inside the envelope of position, method proceeds to step 640.However, if method proceeds to step inside the envelope of position 650。

In step 640, it is new nodes of locations that system 10, which can store vehicle location,.System can also store with it is new The related new gap set point of node and new speed set point.However, system can replace with using with it is previous The set point of node related speed and clearance distance.

In step 650, system 10 can update gap data related with the node of the route along previous trip.Especially It, has been met by the scheduled threshold value of determination, can star the step.For example, controller can receive from GPS receiver The GPS data of device shows vehicle sufficiently close to node, for example is located at and is less than from node 310a to the distance of node 310b 1%.Then controller can further receive the current clearance data from radar installations and the storage from storage device Gap data.Controller 100 can calculate the gap data of acquistion based on current gap data and the gap data of storage, In order to provide the gap set point of update.Then controller can make the gap data of acquistion distribute to corresponding GPS data.Make For an example, the gap data that controller 100 can calculate acquistion is the 10% of 70 meters of current clearance distance and in node 50 meters of clearance distance of 90% summation of the storage of 310a or previous acquistion, in order to provide at 52 meters of node 310a more New gap set point.The gap data of acquistion can store assists with ACC system on the storage means and as described below It is same to be used for step 670, and it is subsequently used for the travelling next time along this route.

In step 660, controller 100 can update number of speed related with the node on the route along previous trip According to.In particular, controller can receive the current speed data from vehicle-wheel speed sensor and the storage from storage device Speed data.Controller may then based on the speed data of the speed calculating acquistion of present speed and storage, in order to provide habit The speed data obtained.Then controller can make the speed data of acquistion distribute to corresponding GPS data.For example, controller 100 Can calculate acquistion speed data be present speed 95KPH 10% and node 310a storage or previous acquistion speed 90% summation of 110KPH is spent, in order to provide in the speed set point of the update of the 108.5KPH of node 310a.The speed of acquistion Degree evidence, which can store, to be cooperateed on the storage means and as described below with ACC system for step 670, and is used thereafter In the travelling next time along this route.

In step 670, controller 100 can between the continuous nodes along the drive route of history interpolation in real time Speed set point.In particular, controller speed based on the previous acquistion in node 310a, 310b and can be further based on The distance of vehicle relative to these nodes carrys out calculating speed set point.Continue front example, vehicle can be located at be less than from At the 1% of the distance of node 310a to node 310b.Can be respectively in the speed of the previous acquistion of node 310a, 310b 110KPH and 80KPH.Therefore, controller can be 99% summation of the 1% and 80KPH of 110KPH with calculating speed set point, In order to provide the speed set point of the interpolation of 109.7KPH.

Similarly, in step 680, controller 100 can be interior between the continuous nodes along the drive route of history Insert gap set point.The example continued the above, vehicle can be located at and be less than from node 310a to the 1% of the distance of node 310b Place.It can be 50 meters and 70 meters respectively in the gap of the previous acquistion of node 310a, 310b.Therefore, by by the 99% of 50 meters It is added to the 1% of 70 meters, the gap set point that controller can be current with interpolation is accordingly used in the current clearance setting of ACC system Point can be 50.2 meters.This interpolation can permit ACC system and progressively operate vehicle without accelerating suddenly or braking.

In step 690, controller 100 can be determined that whether ACC system 10 has been driven by driver to provide certainly Dynamic speed and gap control.If do not driven, method is returned in step 620.However, if by driving, method after Continue step 700.

In step 700, controller 100 can be determined that whether ACC system has been configured in standby mode.If do not located In standby mode, method proceeds immediately to step 720.However, method proceeds to step if ACC system is in standby mode 710。

In step 720, controller 100 can be determined that auto restore facility (the auto resume of ACC system Function) whether have been actuated while.If do not started, method may return to step 620.However, if automatic restore Function has been actuated while that method can continue to step 720.

In step 720, controller 100 can provide the current set point of car speed and clearance distance for ACC system, To allow vehicle fitting as ACC system control such as throttle valve body and/or arrestment mechanism.The example continued the above, ACC System can use 50.2 meters of current clearance set point in next travelling along same route.However, if control Device 100 processed has determined the route that vehicle driving enters new position envelope and therefore do not run over previously along vehicle, control Device processed can make the gap set point of previous acquistion distribute to new node.Similarly, if controller 100 has determined vehicle row New position envelope is driven into, controller can make the speed set point of previous acquistion distribute to new node.

About program described herein, system, method, heuristic method etc., it should be understood that although the step of these programs Occur etc. having described as according to some ordered sequence, but can be to be retouched with order in a different order described herein execution The step of stating implements these programs.It is to be further understood that certain steps can be performed simultaneously, other steps can be added Suddenly, or certain steps as described herein can be omitted.That is, the explanation of program herein is intended to provide for saying The purpose of bright some embodiments, is not construed in any way as limiting claim.

It is therefore to be understood that above description is intended to illustrate not to limit.By reading above description, in addition to providing Example other than many examples and applications will be apparent.Protection scope of the present invention should reference should not be made to state It is fixed to specify, but should determine referring to the attached claims together with whole equivalency ranges that these claims are enjoyed. It is expected that and it is contemplated that following development will appear in technology described herein, and system and method for the disclosure It will be incorporated into these following embodiments.In sum, it should be understood that the present invention can be modified or varied.

Whole terms used in the claims, it is intended to be given their broadest reasonable dismissals and such as this field Their the universal meaning that technical staff is understood, is explicitly indicated in contrast to this unless making at this.Particularly, individually The use of article, for example, "one", " this ", " described " etc. should be understood that the elements of the one or more instructions of description, unless Claim describes clearly to be limited in contrast to this.

Claims (8)

1. a kind of driver's performance mapping system for vehicle, characterized by comprising:

Generate the GPS receiver for showing the GPS data of current location of vehicle；

Generate the radar installations for showing the current clearance data of the current clearance distance from vehicle to front vehicles；And

Electronic controller, the electronic controller are programmed to generate acquistion based on current clearance data and the gap data of storage Then GPS data is associated with by gap data with the gap data of acquistion；

The clearance distance for the storage that wherein gap data of the controller based on current clearance distance and from storage obtains is practised to determine The gap data obtained, and the second percentage of the clearance distance of first percentage and storage of the controller based on current clearance distance The summation of ratio determines the gap data of acquistion.

2. driver's performance mapping system according to claim 1, which is characterized in that further include:

The vehicle electronics storage device electronically communicated with the controller；

Wherein the controller is configured to:

Receive the gap data of the storage from storage device；And

The gap data of acquistion is stored on the storage means.

3. driver's performance mapping system according to claim 1, which is characterized in that controller is configured to, based on opposite In the current location of the vehicle of the first and second positions and gap number with the associated acquistion in each of the first and second positions According to clearance distance of the interpolation for the setting of vehicle on a position between the position that two store.

4. driver's performance mapping system according to claim 1, which is characterized in that radar installations is attached to vehicle The forward-looking radar of front-end architecture.

5. a kind of method for modifying driver's performance setting point, which is characterized in that include step:

Receive the GPS data of the current location for showing vehicle from GPS satellite；

Receive the current clearance data of the current clearance distance shown from vehicle to front vehicles from radar installations；And

The gap data of acquistion is generated based on current clearance data and the gap data of storage, then by GPS data and acquistion Gap data association；The wherein clearance distance of first percentage and storage of the gap data of acquistion based on current clearance distance The summation of second percentage.

6. according to the method described in claim 5, it is characterized in that, further including:

Generate the current speed data for showing the present speed of vehicle；And

Generate the speed data with GPS data, current speed data and the associated acquistion of the speed data of storage.

7. according to the method described in claim 6, being stored it is characterized in that, being further included on vehicle electronics storage device At least one of gap data and the speed data of acquistion of acquistion.

8. the method according to the description of claim 7 is characterized in that further including:

The speed of the storage of speed data based on current clearance distance and from storage, to determine the speed data of acquistion；With And

Make at least one of the gap data of the acquistion and the speed data of the acquistion and corresponds to along previous trip Route point storage GPS location data association.