CN104670235A - Implementing method for front vehicle following - Google Patents
Implementing method for front vehicle following Download PDFInfo
- Publication number
- CN104670235A CN104670235A CN201510084995.9A CN201510084995A CN104670235A CN 104670235 A CN104670235 A CN 104670235A CN 201510084995 A CN201510084995 A CN 201510084995A CN 104670235 A CN104670235 A CN 104670235A
- Authority
- CN
- China
- Prior art keywords
- spacing
- vehicle
- chaufeur
- phase
- front truck
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001133 acceleration Effects 0.000 claims abstract description 16
- 238000010586 diagram Methods 0.000 claims description 21
- 230000003044 adaptive effect Effects 0.000 description 6
- 230000006399 behavior Effects 0.000 description 4
- 230000002354 daily effect Effects 0.000 description 4
- 230000003203 everyday effect Effects 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an implementing method for front vehicle following. The implementing method comprises the following steps of expressing following characteristics of vehicle distance control on a phase plane plot, wherein the transverse axis is the relative distance R of the two vehicles, and the vertical axis is the relative speed V of the two vehicles; adopting a straight line and curve combining method to determine an ideal target following characteristic curve in the phase plane plot; setting an ideal working point and a relatively ideal working point on the phase plane plot; adjusting the relative distance of the two vehicles in the front vehicle following way to approximate to the amplitude Ra; in the initial phase when the Ra is not reached, adopting the fixed acceleration and deceleration to approximate to the vehicle distance of the ideal working point; in the adjusting phase after the Ra is reached, reducing an accelerator or braking to reach the ideal working point, wherein the ideal working point is that the relative speed of the two vehicles is zero and the relative distance of the two vehicles is the ideal and safe vehicle distance set by a driver. The implementing method for the front vehicle following is applied into a vehicle cruising control system, so the comfortability and safety of the vehicle cruising control system are improved, and the easiness in accepting by the driver is realized.
Description
Technical field
The present invention relates to and a kind ofly can reflect the desirable following feature method of designing of the vehicle of front truck following behavior under the true traffic operating mode of chaufeur, belong to field of automotive active safety, can be integrated in the exploitation of Vehicle Adaptive Cruising Control Systems preferably.
Background technology
Automotive self-adaptive CCS cruise control system (Adaptive Cruise Control, be called for short ACC system) be control (Cruise Control System at conventional cruise, be called for short CC system) basis grows up, adaptive cruise control system had both had the cruise function that conventional cruise controls, simultaneously again by the traffic environment of these front sides of onboard sensor perception such as radar, and can automatically apply throttle or braking etc. and realize Learning PD control, make the safety distance that Ben Che and front truck keep suitable.Self-adaption cruise system can alleviate driver's operation burden, improves driver comfort and the active safety of vehicle.
ACC system has two kinds of steady state operation mode: speeds control, spacing control.In spacing control operation pattern, the spacing that adaptive cruise control system controls vehicle and front vehicles maintains expectation value, and keeps identical speed of operation, as shown in Figure 1.During spacing controls, the determination of desirable following feature not only depends on state of kinematic motion (relative position, relative distance etc.) current between Ben Che and front truck, also needs to consider the aspect such as acceptance of the safety of vehicle, traveling comfort and chaufeur.The design great majority of the desirable following feature of existing ACC system are only for the angle of safety, by the state estimation to Ben Che and front truck, calculate the target acceleration, deceleration degree obtained needed for this car, and control signal is sent to driving and the brake system of vehicle, implement corresponding control, make vehicle and front truck keep the relative distance of reasonable benefit/risk.
Although existing vehicle spacing keeps the safety that can ensure between car car, and for chaufeur, the Control platform of its control process but cannot meet the acceptability of chaufeur.Based on the control that the simple desired Safety distance calculated by state of motion of vehicle is carried out, be compared to the regular job behavior of everyday driver, often simple, rough, the process that actr controls is also unsmooth, also result in certain impact to the traveling comfort taken.Meanwhile, the change of the state of kinematic motion of front truck, the larger fluctuation often causing this car to control, reduces CCS cruise control system traveling comfort and safety.
Automotive self-adaptive CCS cruise control system is from its system original intention, and it is make Ben Che and front truck keep the vehicle headway of reasonable benefit/risk with garage that target is intended to imitate the daily of everyday driver.How to determine that the dream car spacing under different vehicle state of kinematic motion is related to the key whether vehicle self-adaption cruise system control process has chaufeur acceptability.
Summary of the invention
In view of the defect that above-mentioned prior art exists, the object of the invention is to copy the daily of chaufeur to be propose the implementation method that a kind of ideal front truck is followed with garage.
The technical scheme that above-mentioned purpose of the present invention is achieved is: the implementation method that a kind of front truck is followed, it is characterized in that: the following feature in spacing controls adopts phase-plane diagram to represent, the transverse axis of described phase-plane diagram is two car relative distance R, vertical pivot is two car relative velocity V, and the mode determination dreamboat following feature curve adopting linear pattern to combine with shaped form in phase-plane diagram, ideal operation point on setting phase-plane diagram and relative ideal operation point adjustment front truck follow two car relative distances of mode close to amplitude Ra, the starting stage of Ra is not reached at two car relative distance R, adopt fixing acceleration/accel, deceleration/decel is close to the spacing of ideal operation point, and the adjusting stage after two car relative distance R reach Ra, ideal operation point is reached by the method reducing throttle or braking, wherein ideal operation point be two car relative velocities be zero and two car relative distances be chaufeur setting, desired Safety spacing.
Further, in the implementation method that above-mentioned front truck is followed, described dreamboat following feature curve controls for the spacing of vehicle cruise control system, described in phase-plane diagram, dreamboat following feature curve is rendered as quadratic curve in the starting stage, and is rendered as the straight line of first-order linear in the adjusting stage.
Further, in the implementation method that above-mentioned front truck is followed, the spacing of chaufeur setting, desired Safety refers to the desired Safety spacing according to the self-defined setting of driving habit under chaufeur headway, chaufeur friction speed section.
Further, in the implementation method that above-mentioned front truck is followed, the spacing of chaufeur setting, desired Safety is divided into the some time to keep off, definition minimum time shelves are 1 second, and maximum time shelves self-defined by driver habit, the linear relationship and the spacing set by the fast section in centre is directly proportional to speed of a motor vehicle relative time shelves, at the linear gradient of high regime or low speed segment correction spacing, wherein, fast section is defined as the speed of a motor vehicle between 10m/s ~ 35m/s, high regime is defined as the speed of a motor vehicle and is greater than 35m/s, and low speed segment is defined as the speed of a motor vehicle and is less than 10m/s.
Further, in the implementation method that above-mentioned front truck is followed, described in the starting stage, fix acceleration/accel, deceleration/decel to have under operating mode of overtaking other vehicles auxiliary gain span of control limit of control of overtaking other vehicles.
The design plan that front truck of the present invention is followed, its outstanding effect is: this dreamboat following feature curve and control method thereof are used in the spacing control of vehicle cruise control system, can the daily of drive simulating person with garage be fully, improve traveling comfort and the safety of vehicle cruise control system, to be easy to accept by chaufeur.
Accompanying drawing explanation
Fig. 1 is adaptive cruise control system spacing model-following control schematic diagram.
Fig. 2 is that spacing controls desirable following feature figure.
Fig. 3 is the vehicle desired Safety distance map of chaufeur setting.
Fig. 4 is the trend planar view of the relative speed of a motor vehicle of vehicle and relative distance.
Fig. 5 is chaufeur desired Safety range points schematic diagram in phase-plane diagram.
Fig. 6 is following condition cathetus type phase path schematic diagram.
Fig. 7 is shaped form phase path schematic diagram in following condition.
Fig. 8 is the phase path figure of following condition middle ideal.
Detailed description of the invention
Below just accompanying drawing in conjunction with the embodiments, is described in further detail the specific embodiment of the present invention, is easier to understand, grasp to make technical solution of the present invention.
The object of the invention is to copy the front truck following behavior under chaufeur drive routine operating mode, the method for designing of the desirable following feature of a kind of vehicle is provided.
The desirable following feature establishing method of automobile in the present invention is summarized as follows: under spacing master mode, desirable following feature curve is a particular curve on the phase-plane diagram of two car relative distances, relative velocity, as shown in Figure 2.This phase-plane diagram can represent with the V-R figure in two workshops, and wherein V is the relative speed of a motor vehicle of two cars, and R is two car relative distances.In two car relative distances, (the relative speed of a motor vehicle of two cars is zero with ideal operation point, two car relative spacings are chaufeur setting desired Safety distance) deviation larger time, this car with fixing acceleration/accel away from or chase after nearby car, but when close to ideal operation point, the V-R in two workshops approaches ideal operation point with first-order linear relation, this car final keeps desired Safety distance with front truck, and the relative speed of a motor vehicle of two cars is zero.Wherein for ease of weighing the deviation size of relative ideal operation point, ideal operation point on concept selection setting phase-plane diagram and relative ideal operation point adjustment front truck follow two car relative distances of mode close to amplitude Ra, and whether reach Ra switching Car following model with two car relative distance R.
From refinement scheme more specifically, this desirable following feature has following feature:
(1), fully drive simulating person follow the driving performance of front truck, in the starting stage, chaufeur adopts fixing acceleration, deceleration degree close to two car safety distances usually, close to after, slowly reduce throttle or braking, the time in of arriving safety distance, the relative speed of a motor vehicle is zero.
(2), ACC desired Safety distance determines: the shop safety distance designing the best under the different speed of a motor vehicle according to the driving habit under the setting of chaufeur headway, chaufeur friction speed section, as shown in Figure 3.Centre portion and current vehicle speed and chaufeur be set to linear relationship, in low regime and high velocity, according to chaufeur schedule driving habits, carry out the suitable correction of shop safety distance.
(3), the adjustment of chaufeur desired Safety distance under initiatively speed-raising should be taken into full account, and under operating mode of overtaking other vehicles, suitably strengthen controller excursion, auxiliaryly to overtake other vehicles.Thus, fix acceleration/accel described in the starting stage, deceleration/decel to have under operating mode of overtaking other vehicles auxiliary gain span of control limit of control of overtaking other vehicles.
As shown in Figure 2, oblique curve is the desirable following feature curves of two cars, and the point on transverse axis is 2 car ideal operation points (relative distance is desired Safety distance, and the relative speed of a motor vehicle is zero).When two car operation points are in above oblique curve, controller excursion is just, this car need accelerate to catch up with front truck, and when being in below oblique curve, controller excursion is negative, and this car need slow down to keep reasonable benefit/risk distance.This car controls shown in the calculating formula specific as follows of acceleration/accel:
Δ v=V
r-f (d) (formula 1)
In formula: V
rit is the relative speed of a motor vehicle of two cars; F (d) is the desirable following feature curve in Fig. 2 represented by red line; D is two car relative distances; τ is the ride gain of controller; a
aimfor the target control acceleration/accel that self-adaption cruise system calculates according to operating point offset;
Therefore when vehicle current time operation point is on desirable following feature curve, cruise system thinks that the operation point of Current vehicle meets desirable following feature, then target control amount is zero, namely the control that drives Yu brake is not carried out to actr.
As shown in Figure 4, on this phase-plane diagram, axis of abscissa is the relative distance R in two workshops, and axis of ordinate is the relative velocity Vr in two workshops.Point above transverse axis, the relative velocity due to two workshops is just, namely the movement relation in two workshops is mutually away from (front vehicle speed is greater than this vehicle speed), and therefore the relative distance in two workshops increases, and the point namely above transverse axis will move right; On the contrary, the point below transverse axis due to relative velocity be negative value, two workshops are relatively close relations, therefore passing in time, and the distance in two workshops reduces, therefore the some passing in time below transverse axis will be moved to the left.Known by analysis above, in this phase plane, transverse axis is the stable point of two car relative motion relation.
In adaptive learning algorithms ACC system, following condition needs the speed controlling this car, and the speed of this car is kept identical with front truck, ensures that the relative distance in two workshops is the safety distance that chaufeur is arranged simultaneously.Namely in following condition, the perfect condition of two cars is relative distance is desired Safety following distance, and the speed of two cars is identical, as shown in the point on the transverse axis in Fig. 2.The safety distance that chaufeur is arranged bay when can be divided into several, be referred to as timegap, its minimum timegap is 1 second, and ensure that whole system has and enough follow stability, maximum timegap can determine according to driver habit.Its middle velocity shooting, the safety distance of chaufeur setting to be directly proportional linear relationship with the timegap of the speed of a motor vehicle and chaufeur setting, and at high regime and low speed segment, the drive routine according to chaufeur is accustomed to, and carries out suitable correction to safety distance.As at low speed segment, particularly during stationary vehicle, chaufeur is not close to front truck and stops, but retains certain safety distance, therefore safety distance curve suitably increases distance at low speed segment.As in high regime, as safety distance increases excessive with the speed of a motor vehicle, chaufeur can think excessively far away with leading vehicle distance, and suitably accelerate, reduce the vehicle headway in two workshops, therefore in high regime, native system reduce safety distance increase slope, make it more meet the driving performance of chaufeur.Wherein, fast section is defined as the speed of a motor vehicle between 10m/s ~ 35m/s, and high regime is defined as the speed of a motor vehicle and is greater than 35m/s, and low speed segment is defined as the speed of a motor vehicle and is less than 10m/s, and in actual set, the definition of this speed of a motor vehicle can be slightly floating.
Therefore, in following condition, the ideal operation point of this car is positioned on the transverse axis of phase-plane diagram on phase-plane diagram, and transverse axis coordinate is dream car spacing, and as shown in Figure 5, in figure, A point is the ideal operation point of this car in following condition.
In order to allow this car move to target operation points, need the phase path of a selection vehicle movement.Be exactly the most simply linear phase path curve in vehicle movement phase path, as shown in Figure 6.In Fig. 6, the phase path of two Different Slope is all by the dreamboat operation point on abscissa, but two phase path has different characteristics: the point in (a) in phase path all will move to ideal operation point, and the point in phase path in (b) all will away from ideal operation point.Therefore, the form in (a) will be selected through the phase path of ideal operation point, ensure this car state of kinematic motion trend ideal operation point.
Usual chaufeur is followed in front truck process, and in the starting stage, chaufeur adopts fixing acceleration, deceleration degree to control the distance in two workshops usually, and this controlling behavior of chaufeur can adopt the curved phase path shown in Fig. 7 to represent.What a curve represented chaufeur in () determines deceleration/decel driving procedure, and what in (b), curve represented chaufeur determines acceleration/accel driving procedure.Chaufeur adopts fixing acceleration, deceleration degree until when vehicle and front truck arrive certain relative distance, just can change follow-up strategy.
In order to drive simulating person follows the driving performance of front truck, the mode determination dreamboat following feature curve that following feature adopts linear pattern to combine with shaped form, as shown in Figure 8.Wherein, be the phase path of determining acceleration, deceleration degree away from the BC section of ideal operation point (some A), DE section, the BD section close to ideal operation point adopts linear pattern phase path, makes state of motion of vehicle can be stabilized in ideal operation point
Abundant drive simulating person follows the driving performance of front truck, in the starting stage, chaufeur adopts fixing acceleration, deceleration degree close to two car safety distances usually, after close, slow minimizing throttle or braking, the relative distance of vehicle and relative velocity are changed linearly change, the time in of arriving safety distance, the relative speed of a motor vehicle is zero.
In sum, be the detailed description to the specific embodiment of the invention, this case protection domain is not constituted any limitation.And as can be seen here, apply the design plan that front truck of the present invention is followed, this dreamboat following feature curve and control method thereof are used in the spacing control of vehicle cruise control system, can the daily of drive simulating person with garage be fully, improve traveling comfort and the safety of vehicle cruise control system, to be easy to accept by chaufeur.
Along stating a bit: the technical method that all employing equivalents or equivalence are replaced and formed, all drop within rights protection scope of the present invention.
Claims (5)
1. the front truck implementation method of following, it is characterized in that: the following feature in spacing controls adopts phase-plane diagram to represent, the transverse axis of described phase-plane diagram is two car relative distance R, vertical pivot is two car relative velocity V, and the mode determination dreamboat following feature curve adopting linear pattern to combine with shaped form in phase-plane diagram, ideal operation point on setting phase-plane diagram and relative ideal operation point adjustment front truck follow two car relative distances of mode close to amplitude Ra, the starting stage of Ra is not reached at two car relative distance R, adopt fixing acceleration/accel, deceleration/decel is close to the spacing of ideal operation point, and the adjusting stage after two car relative distance R reach Ra, ideal operation point is reached by the method reducing throttle or braking, wherein ideal operation point be two car relative velocities be zero and two car relative distances be chaufeur setting, desired Safety spacing.
2. the front truck implementation method of following according to claim 1, it is characterized in that: described dreamboat following feature curve controls for the spacing of vehicle cruise control system, described in phase-plane diagram, dreamboat following feature curve is rendered as quadratic curve in the starting stage, and is rendered as the straight line of first-order linear in the adjusting stage.
3. the front truck implementation method of following according to claim 1, is characterized in that: the spacing of chaufeur setting, desired Safety refers to the desired Safety spacing according to the self-defined setting of driving habit under chaufeur headway, chaufeur friction speed section.
4. the implementation method that front truck is followed according to claim 1 or 3, it is characterized in that: the spacing of chaufeur setting, desired Safety is divided into the some time to keep off, definition minimum time shelves are 1 second, and maximum time shelves self-defined by driver habit, the linear relationship and the spacing set by the fast section in centre is directly proportional to speed of a motor vehicle relative time shelves, at the linear gradient of high regime or low speed segment correction spacing, wherein, fast section is defined as the speed of a motor vehicle between 10m/s ~ 35m/s, high regime is defined as the speed of a motor vehicle and is greater than 35m/s, and low speed segment is defined as the speed of a motor vehicle and is less than 10m/s.
5. the front truck implementation method of following according to claim 1, is characterized in that: fix acceleration/accel described in the starting stage, deceleration/decel has auxiliary gain span of control limit of control of overtaking other vehicles under operating mode of overtaking other vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510084995.9A CN104670235B (en) | 2015-02-17 | 2015-02-17 | Implementing method for front vehicle following |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510084995.9A CN104670235B (en) | 2015-02-17 | 2015-02-17 | Implementing method for front vehicle following |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104670235A true CN104670235A (en) | 2015-06-03 |
| CN104670235B CN104670235B (en) | 2017-05-17 |
Family
ID=53305971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510084995.9A Active CN104670235B (en) | 2015-02-17 | 2015-02-17 | Implementing method for front vehicle following |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104670235B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644560A (en) * | 2016-03-22 | 2016-06-08 | 辽宁工业大学 | ACC (adaptive cruise control) system and method for four-wheel hub motor electric vehicle |
| CN106585639A (en) * | 2016-10-24 | 2017-04-26 | 深圳市元征科技股份有限公司 | Driving method and system |
| CN107253480A (en) * | 2017-06-23 | 2017-10-17 | 北京新能源汽车股份有限公司 | Control method for vehicle and system |
| CN107757621A (en) * | 2017-09-11 | 2018-03-06 | 吉利汽车研究院（宁波）有限公司 | A kind of adaptive cruise method and system for remembering driving behavior custom |
| CN107832517A (en) * | 2017-11-01 | 2018-03-23 | 合肥创宇新能源科技有限公司 | ACC lengthwise movement modeling methods based on relative motion relation |
| CN109421711A (en) * | 2017-08-28 | 2019-03-05 | 腾讯科技（北京）有限公司 | Follow the bus method for control speed, device, system, computer equipment and storage medium |
| CN109572697A (en) * | 2018-11-26 | 2019-04-05 | 辽宁省交通高等专科学校 | The throttle autocontrol method of special road section traveling vehicle based on fuzzy control |
| CN109689459A (en) * | 2016-09-21 | 2019-04-26 | 日产自动车株式会社 | The travel control method and travel controlling system of vehicle |
| CN110431058A (en) * | 2017-03-23 | 2019-11-08 | 五十铃自动车株式会社 | Travel controlling system, vehicle and travel control method |
| CN110428603A (en) * | 2019-07-26 | 2019-11-08 | 北京主线科技有限公司 | Following Car travel control method and device in container truck formation |
| CN110920610A (en) * | 2019-12-11 | 2020-03-27 | 东风商用车有限公司 | Automatic driving and car following method |
| CN111516687A (en) * | 2020-05-11 | 2020-08-11 | 上海汽车集团股份有限公司 | Method and device for determining following distance |
| CN113135185A (en) * | 2020-01-16 | 2021-07-20 | 奥迪股份公司 | Vehicle driving assistance system, vehicle including the same, and corresponding method and medium |
| CN114394094A (en) * | 2021-12-24 | 2022-04-26 | 华人运通(上海)自动驾驶科技有限公司 | Auxiliary driving method for safe following and vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013193573A (en) * | 2012-03-19 | 2013-09-30 | Fujitsu Ten Ltd | Vehicle follow-up device |
| CN103847740A (en) * | 2012-12-05 | 2014-06-11 | 现代摩比斯株式会社 | Smart cruise control system and control method therefor |
| CN103963785A (en) * | 2014-05-20 | 2014-08-06 | 武汉理工大学 | Dual-mode control method for automobile self-adaptive cruise system |
| CN104024021A (en) * | 2012-01-02 | 2014-09-03 | 沃尔沃拉斯特瓦格纳公司 | Method and system for controlling a driving distance |
| CN104192146A (en) * | 2014-09-12 | 2014-12-10 | 辽宁工业大学 | Fuzzy control based automotive intelligent cruise assisted driving system control method |
-
2015
- 2015-02-17 CN CN201510084995.9A patent/CN104670235B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104024021A (en) * | 2012-01-02 | 2014-09-03 | 沃尔沃拉斯特瓦格纳公司 | Method and system for controlling a driving distance |
| JP2013193573A (en) * | 2012-03-19 | 2013-09-30 | Fujitsu Ten Ltd | Vehicle follow-up device |
| CN103847740A (en) * | 2012-12-05 | 2014-06-11 | 现代摩比斯株式会社 | Smart cruise control system and control method therefor |
| CN103963785A (en) * | 2014-05-20 | 2014-08-06 | 武汉理工大学 | Dual-mode control method for automobile self-adaptive cruise system |
| CN104192146A (en) * | 2014-09-12 | 2014-12-10 | 辽宁工业大学 | Fuzzy control based automotive intelligent cruise assisted driving system control method |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644560B (en) * | 2016-03-22 | 2017-12-29 | 辽宁工业大学 | A kind of four-wheel wheel hub motor electric vehicle self-adapting cruise control system and method |
| CN105644560A (en) * | 2016-03-22 | 2016-06-08 | 辽宁工业大学 | ACC (adaptive cruise control) system and method for four-wheel hub motor electric vehicle |
| CN109689459B (en) * | 2016-09-21 | 2020-05-15 | 日产自动车株式会社 | Vehicle travel control method and travel control device |
| CN109689459A (en) * | 2016-09-21 | 2019-04-26 | 日产自动车株式会社 | The travel control method and travel controlling system of vehicle |
| CN106585639A (en) * | 2016-10-24 | 2017-04-26 | 深圳市元征科技股份有限公司 | Driving method and system |
| WO2018076558A1 (en) * | 2016-10-24 | 2018-05-03 | 深圳市元征科技股份有限公司 | Driving method and system |
| CN110431058A (en) * | 2017-03-23 | 2019-11-08 | 五十铃自动车株式会社 | Travel controlling system, vehicle and travel control method |
| CN107253480A (en) * | 2017-06-23 | 2017-10-17 | 北京新能源汽车股份有限公司 | Control method for vehicle and system |
| CN107253480B (en) * | 2017-06-23 | 2019-10-25 | 北京新能源汽车股份有限公司 | Control method for vehicle and system |
| CN109421711A (en) * | 2017-08-28 | 2019-03-05 | 腾讯科技（北京）有限公司 | Follow the bus method for control speed, device, system, computer equipment and storage medium |
| US11124190B2 (en) | 2017-08-28 | 2021-09-21 | Tencent Technology (Shenzhen) Company Limited | Vehicle-following speed control method, apparatus, system, computer device, and storage medium |
| CN107757621A (en) * | 2017-09-11 | 2018-03-06 | 吉利汽车研究院（宁波）有限公司 | A kind of adaptive cruise method and system for remembering driving behavior custom |
| CN107832517A (en) * | 2017-11-01 | 2018-03-23 | 合肥创宇新能源科技有限公司 | ACC lengthwise movement modeling methods based on relative motion relation |
| CN107832517B (en) * | 2017-11-01 | 2021-05-04 | 合肥创宇新能源科技有限公司 | ACC longitudinal kinematics modeling method based on relative motion relation |
| CN109572697B (en) * | 2018-11-26 | 2020-06-05 | 辽宁省交通高等专科学校 | Fuzzy control based automatic throttle control method for special road section traveling vehicle |
| CN109572697A (en) * | 2018-11-26 | 2019-04-05 | 辽宁省交通高等专科学校 | The throttle autocontrol method of special road section traveling vehicle based on fuzzy control |
| CN110428603A (en) * | 2019-07-26 | 2019-11-08 | 北京主线科技有限公司 | Following Car travel control method and device in container truck formation |
| CN110428603B (en) * | 2019-07-26 | 2021-04-23 | 北京主线科技有限公司 | Method and device for controlling following vehicle running in container truck formation |
| CN110920610A (en) * | 2019-12-11 | 2020-03-27 | 东风商用车有限公司 | Automatic driving and car following method |
| CN113135185A (en) * | 2020-01-16 | 2021-07-20 | 奥迪股份公司 | Vehicle driving assistance system, vehicle including the same, and corresponding method and medium |
| CN111516687A (en) * | 2020-05-11 | 2020-08-11 | 上海汽车集团股份有限公司 | Method and device for determining following distance |
| CN111516687B (en) * | 2020-05-11 | 2021-08-24 | 上海汽车集团股份有限公司 | Method and device for determining following distance |
| CN114394094A (en) * | 2021-12-24 | 2022-04-26 | 华人运通(上海)自动驾驶科技有限公司 | Auxiliary driving method for safe following and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104670235B (en) | 2017-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104670235A (en) | Implementing method for front vehicle following | |
| CN105936278B (en) | Vehicle with a steering wheel | |
| JP3956693B2 (en) | Integrated vehicle motion controller | |
| US8265850B2 (en) | Method and apparatus for target vehicle following control for adaptive cruise control | |
| CN102753413B (en) | Control device for vehicle | |
| US8359149B2 (en) | Method for integrating multiple feature adaptive cruise control | |
| US8554443B2 (en) | Vehicle travel control device | |
| CN109835335A (en) | Electric vehicle cruise control method and system and vehicle, controller and storage medium | |
| US20140350820A1 (en) | Method and module for controlling a vehicle's speed based on rules and/or costs | |
| JP6838623B2 (en) | Adaptive cruise controller and control method | |
| CN106004875A (en) | Adaptive cruise control system | |
| KR20160069197A (en) | Device and method for controlling auto cruise of vehicle | |
| CN103963785A (en) | Dual-mode control method for automobile self-adaptive cruise system | |
| WO2013114624A1 (en) | Deceleration factor estimation device and drive assistance device | |
| CN108290570A (en) | Power train is detached from and slides management | |
| KR20140107590A (en) | Method and module for determining of at least one reference value | |
| CN110103959A (en) | A kind of self-adapting cruise control method | |
| CN102862507B (en) | The optical axis controller of vehicle head lamp | |
| CN112660126B (en) | Vehicle cooperative control method and device for adaptive cruise and vehicle | |
| CN114643969A (en) | Method and system for controlling vehicle operation | |
| US10974723B2 (en) | Drive force control system for vehicle | |
| JP2018090064A (en) | Travel control device, vehicle, control method for travel control device, and program | |
| CN108609009A (en) | The method for controlling vehicle deceleration using vehicle traveling information | |
| CN111081069A (en) | Vehicle track control method for bottleneck area of expressway | |
| Flores et al. | A time gap-based spacing policy for full-range car-following |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |