CN106143488A - A kind of automotive self-adaptive cruise divided working status control system - Google Patents
A kind of automotive self-adaptive cruise divided working status control system Download PDFInfo
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- CN106143488A CN106143488A CN201510102399.9A CN201510102399A CN106143488A CN 106143488 A CN106143488 A CN 106143488A CN 201510102399 A CN201510102399 A CN 201510102399A CN 106143488 A CN106143488 A CN 106143488A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The present invention relates to a kind of automotive self-adaptive cruise divided working status control system, it is characterised in that: include information acquisition unit, state recognition unit, control decision unit and automobile dynamics unit；Information acquisition unit gathers running condition information, and sends it to state recognition unit, and state recognition unit makes identification to from car safe condition and forward direction target vehicle relative to from the state of car, and recognition result is sent to control decision unit；Driver's actual demand under each state of control decision element analysis, with vehicle safety, followability, fuel economy and driver's riding comfort as index, set up multi-objective optimization question, and select optimal controller according to state recognition result, being calculated optimum control acceleration and it is carried out continuous treatment, result is sent to automobile dynamics unit；Optimum control acceleration is converted into desired throttle opening or brake pressure by automobile dynamics unit, it is achieved automobile multimode divided working status controls.
Description
Technical field
The present invention relates to driver's aid system, specifically a kind of automotive self-adaptive cruise divided working status control system.
Background technology
Along with economic develops rapidly, automobile has become as the vehicles that people's social life is indispensable.Automobile quantity is not
Disconnected increase so that mechanical transport presents High Speed of Rolling Stock, driver's deprofessionaliztion and the trend of wagon flow densification, thus brings
Vehicle accident take place frequently, the problem such as road is crowded, energy waste becomes increasingly conspicuous, these problems bring the biggest challenge to traffic.
Automotive self-adaptive cruise controls (Adaptive Cruise Control, ACC) as advanced driver assistance system (Advanced
One of Driver Assistant System, ADAS) key technology, it has also become the focus of intelligent transportation field research both at home and abroad.It
Driver can be replaced to control throttle and brake according to vehicle running state and road environment, it is achieved vehicle actively collision avoidance, fixed
Speed is cruised or with car function.Effectively alleviate operator intensity, alleviate driving fatigue, road improvement traffic flow.Wherein,
The safety of vehicle, followability, fuel economy and driver's riding comfort are the several important of evaluation ACC system performance
Index.But, under varying environment operating mode, the driving performance of driver difference, in order to make driver drive ACC car
Time feel " naturally " as much as possible, this just require ACC system design must be in conjunction with the driving performance of driver, from driver
Angle is set out analysis, design control system, could the popularization and application of this technology of further genralrlization.
Conventional ACC system, in the case of current vehicle smooth-ride and vehicle headway are relatively near, often has preferable control performance.
But, when vehicle headway is compared with when big or the unexpected acceleration and deceleration of front truck, and its Control platform has declined.Concrete manifestation
For vehicle, bigger shake occurs, cause driver uncomfortable and vehicle oil consumption increases；When vehicle needs emergency brake, system without
Method responds timely and accurately, and brake force seems not enough；Control model is single, it is impossible to meet driver under complicated objective road environment
Demand；These problems are all unfavorable for the further genralrlization application of this technology.
Summary of the invention
For problem present in above-mentioned background technology, the present invention first by ACC system forward direction target vehicle relative to from the shape of car
State is summarized as typical six kinds, i.e. without car state, remote proximity state, plateau, strong acceleration mode, strong deceleration regime
And overspeed condition；Secondly, analyze the different demands for control of driver under each state, with the safety of vehicle, followability, combustion
Oil economy and driver's riding comfort are Con trolling index, set up Multiobjective Optimal Control Problems, calculate optimum control and accelerate
Degree；Finally, from driver's angle, based on Fuzzy Logic Reasoning Algorithm, a kind of forward direction meeting most driver's perception characteristic is proposed
Target vehicle state recognizer, forward direction target vehicle state is made effectively identification, and is tied according to state recognition by drive simulating person
Fruit selects optimum control output, it is achieved the divided working status under complicated road environment controls.In view of driver, driving comfort is wanted
Ask, output is controlled acceleration and carries out continuous treatment, it is to avoid different controller handoff procedures may cause sudden change of acceleration to lead
Cause vehicle and bigger shake occurs.In order to ensure vehicle safety in emergency circumstances, the present invention is by active collision-avoidance system (Collision
Warning/CollisionAvoidance, CW/CA) it is integrated into ACC system, on the premise of fully ensuring that driving safety, change
Kind driver's ride quality, reduces vehicle oil consumption.
A kind of automotive self-adaptive cruise divided working status control system, it is characterised in that: include information acquisition unit, state recognition unit,
Control decision unit and automobile dynamics unit；Information acquisition unit gathers motoring condition information, and sends it to state
Recognition unit；State recognition unit makes identification to from car safe condition and forward direction target vehicle relative to from the state of car, and
Recognition result is sent to control decision unit；Driver's actual demand under each state of control decision element analysis, with automotive safety
Property, followability, fuel economy and driver's riding comfort be index, set up multi-objective optimization question, know according to state
Other result selects optimal controller, is calculated optimum control acceleration and it is carried out continuous treatment, and result is sent to automobile
Kinetic units；Optimum control acceleration is converted into desired throttle opening or brake pressure by automobile dynamics unit, it is achieved
Automobile multimode divided working status controls.
State recognition unit includes from car safe condition identification and forward direction target vehicle relative to from the state recognition of car；Described from car
Safe condition is divided into safe, dangerous and abnormally dangerous Three Estate；Described front truck is divided into six kinds relative to from the state of car,
Including: without car state, remote proximity state, plateau, strong acceleration mode, strong deceleration regime and overspeed condition；
Described state without car refers to do not have target vehicle from Herba Plantaginis to radar effective detection range；Described remote proximity state refers to
Vehicle headway is much smaller than from vehicle speed much larger than the desired following distance of driver and front vehicle speed；Described overspeed condition refers to forward direction
Target vehicle velocity more than driver set from car cruise speed；
Control decision unit includes that optimal controller selects module, optimum control amount computing module and controlled quentity controlled variable continuous treatment module；
Described optimal controller includes: cruise control system, close to controller, following controller, strong acceleration controller, slow down by force
Controller and brake hard controller；Described adaptive cruise divided working status control system integration adaptive cruise control system, master
Automatic collsion avoidance system and the function of constant-speed-cruise control system.
Cruise control system is so that the cruise speed that can set close to driver as early as possible from vehicle speed is as primary goal, simultaneously
Allowing for driver's comfortableness and VE Vehicle Economy, state recognition result is without being chosen when car state or overspeed condition；Close
Controller enables to from car under the premise that security is guaranteed, with the shortest front truck around and stably follow traveling, real
Existing timing-optimal control function, allowing for driver's comfortableness and VE Vehicle Economy simultaneously, state recognition result is proximity state
Time be chosen；Strong acceleration controller can reduce the degree uncomfortable from car oil consumption deterioration and driver that front truck accelerates suddenly to bring,
Realizing the optimum control function of high degree of comfort and low oil consumption, take into account vehicle trace performance simultaneously, state recognition result is for forcing speed shape
It is chosen during state；Retardation controller can improve front truck and slow down suddenly or driver comfort degree during other car doubling by force and automobile
Safety, it is ensured that realize driver comfort degree optimum control function on the premise of safety, fully ensure that driving safety, hold concurrently simultaneously
Turn round and look at crew comfort, be chosen when state recognition result is strong deceleration regime；Brake hard controller is so that quickly stopping from car
For unique objects, state recognition result is activated when being abnormally dangerous；
A kind of automotive self-adaptive cruise divided working status control system, it is characterised in that: specifically include following steps and method:
Step 1: whether have target vehicle by being installed in the detections of radar front coverage of Herba Plantaginis end, do not have target carriage
Then indicate without car state.
Step 2: when having target vehicle to travel in the coverage of front, according to auto alarm distance and collision distance model, knot
Close information acquisition unit transport condition output valve and driver's preset value, calculate alarm distance and collision distance, and with reality
Border vehicle headway compares, and makes identification to from the safe condition of car, including: safe condition, precarious position and abnormally dangerous state.
Step 3: on the premise of car is in a safe condition, compares forward direction target vehicle velocity and driver is set in advance certainly
Car cruise velocity magnitude, identifies whether front truck is in overspeed condition；Front vehicle speed is more than from car cruise speed, then table
Show that front truck is in overspeed condition.
Step 4: when forward direction target vehicle does not exceed the speed limit, combining adaptive cruise control system work characteristics and driver's perception
The difference of characteristic, sets up the forward direction dbjective state identification problem meeting most of driver, and drive simulating person is to claim 2 institute
Remote proximity state, plateau, strong acceleration mode and the strong deceleration regime stated make identification.
Step 5: under each state described in analytical procedure 2, driver controls target and lays particular stress on the difference of degree, with vehicle safety,
Followability, fuel economy and driver's riding comfort are Con trolling index, set up Multiobjective Optimal Control Problems, calculate
Excellent control acceleration, and select optimum control output according to state recognition result, it is achieved divided working status controls.
Step 6: when when car is in a safe condition, it is contemplated that the requirement of driver's high degree of comfort, it is to avoid different conditions switched
Cheng Keneng causes sudden change of acceleration to cause vehicle bigger shake occur, output is controlled acceleration and carries out continuous treatment, will output
Within the scope of rate of acceleration change is limited to driver comfort degree.
The beneficial effects of the present invention is: the present invention is by analyzing ACC system forward direction target vehicle relative to from the state of car, knot
Close the actual demand for control of driver, design corresponding adaptive learning algorithms device and state recognition algorithm, it is achieved ACC system divides
Operating conditions, solves existing ACC system and cannot adapt to complicated objective road environment, cannot meet driver's high degree of comfort and low
The problem that oil consumption requires；And CW/CA system is combined with tradition ACC system, solve tradition ACC system tight at needs
The problem that under anxious brake condition, safety is the highest.In a word, on the premise of fully ensuring that driving safety, improve driving comfort,
Reduce vehicle oil consumption, promote the popularization and application of this technology.
Accompanying drawing explanation
Fig. 1 is the state recognition flow chart of a kind of automotive self-adaptive cruise divided working status control system
Detailed description of the invention
The present invention proposes a kind of automotive self-adaptive cruise divided working status control system from driver's angle.Below in conjunction with the accompanying drawings to this
Invention implement step and method is described in detail.
Step 1: whether have target vehicle by being installed in the detections of radar front coverage of Herba Plantaginis end, do not have target carriage
Then indicate without car state；Now, at the uniform velocity travel with driver's cruise set in advance speed from car, significantly alleviate driving
The manipulation strength of member, belongs to traditional constant speed cruising system.
Step 2: ensure that the absolute driving safety of vehicle is premise and the key of this system work, therefore, when detections of radar is to front
When having target vehicle to travel in coverage, it is necessary first to carry out judging from car safe condition, including: safe condition, dangerous shape
State and abnormally dangerous state, improve reliable status information for control decision unit afterwards；The present invention is in view of in emergency circumstances
The hypodynamic problem of automobile brake, on the basis of tradition adaptive cruise control system, introduces automobile actively anti-collision control system,
When workshop actual range is less than collision distance, starts brake hard control model, fully ensure that driving safety.
Step 3: on the premise of car is in a safe condition, compares forward direction target vehicle velocity and driver is set in advance certainly
Car cruise velocity magnitude, identifies whether front truck is in overspeed condition；Overspeed condition of the present invention refers to that front vehicle speed is more than
Driver is set in advance from car cruise speed, if front truck hypervelocity, starts cruise pattern from car, it is to avoid front truck is disobeyed
When rule are driven over the speed limit, also and then run from car and cause rear-end collision to occur.
Step 4: when forward direction target vehicle does not exceed the speed limit, combining adaptive cruise control system work characteristics and driver's perception
The difference of characteristic, sets up the forward direction dbjective state identification problem meeting most of driver.In actual driving procedure, driver
Being differentiated for forward direction target vehicle relative to the perception from the state of car, the difference of perception causes driver to take
Control measure are different；Such as, when current vehicle is to force speed state traveling, due to the danger do not knocked into the back with it from car, pacify from car
Overall coefficient is higher, and in actual driving procedure, driver, more in view of vehicle oil consumption and driving comfort, will not take big
The acceleration scheme of intensity, although so making vehicle headway bigger than normal and affecting trace performance, but meets the driving performance of driver；
Therefore, designing a state recognition meeting most of driver and be particularly important, the present invention is special by analyzing driver's perception
Property, based on Fuzzy Logic Reasoning Algorithm, with during car away from reciprocal with the collision avoidance time as fuzzy input variable, combine domestic and international to driver
The analytical data of perception characteristic, sets up state recognition fuzzy rule, drive simulating person to remote proximity state, plateau,
Strong acceleration mode and strong deceleration regime make identification, provide reliable status information for control decision unit, and as control decision
The foundation that unit control model selects；
Step 5: control target for driver under each state and lay particular stress on the difference of degree, with vehicle safety, followability, combustion
Oil economy and driver's riding comfort are Con trolling index, set up Multiobjective Optimal Control Problems；State recognition result is nothing
When car state or overspeed condition, so that the cruise speed that can set close to driver as early as possible from vehicle speed is as primary goal, with
Time allowing for driver's comfortableness and VE Vehicle Economy set up multi-objective optimization question；State recognition result is the most close
During state, so that from car fast approaching front truck for primarily controlling target, simultaneously allowing for driver's comfortableness and VE Vehicle Economy
Set up multi-objective optimization question；When state recognition result is plateau, balancedly take into account automobile followability, safety, combustion
Oil economy and crew comfort set up multi-objective optimization question；When state recognition result is strong acceleration mode, so that driving
The person's of sailing high degree of comfort and the low oil consumption of vehicle are primary goal, take into account vehicle trace performance to set up multi-objective optimization question simultaneously；Shape
When state recognition result is strong deceleration regime, so that not knocking into the back as primarily controlling target from car and front truck, fully ensure that driving peace
Entirely, allowing for driver's comfortableness sets up multi-objective optimization question simultaneously；When state recognition result is abnormally dangerous shape, so that from
Car quickly stops as uniquely controlling target, slows down with maximum deceleration from car；Under complicated road condition, system is known according to state
Other result real-time selection optimal controller, calculates optimum control acceleration, it is achieved automotive self-adaptive cruise divided working status controls.
Step 6: according to driver's requirement to ride quality, output is controlled acceleration and carries out continuous treatment.When self
When vehicle is in a safe condition, output acceleration change amount is limited in-2m/s3～2m/s3, it is to avoid different controller handoff procedures
Sudden change of acceleration may be caused to cause vehicle that bigger shake occurs, cause driver uncomfortable.When vehicle is in the hole,
In order to ensure driving safety, output is not controlled acceleration and limit.
Above embodiment is only for illustrating the thought of the present invention, it is impossible to limit protection scope of the present invention with this, every according to
The technological thought that the present invention proposes, any change made in technical scheme, each fall within protection scope of the present invention.
Claims (4)
1. an automotive self-adaptive cruise divided working status control system, it is characterised in that: include information acquisition unit, state recognition unit, control decision unit and automobile dynamics unit；Described information acquisition unit gathers motoring condition information, and sends it to state recognition unit；Described state recognition unit makes identification to from car safe condition and forward direction target vehicle relative to from the state of car, and recognition result is sent to control decision unit；Driver's actual demand under the described each state of control decision element analysis, with vehicle safety, followability, fuel economy and driver's riding comfort as index, set up multi-objective optimization question, and select optimal controller according to state recognition result, being calculated optimum control acceleration and it is carried out continuous treatment, result is sent to automobile dynamics unit；Optimum control acceleration is converted into desired throttle opening or brake pressure by described automobile dynamics unit, it is achieved automobile multimode divided working status controls.
2. as claimed in claim 1 a kind of automotive self-adaptive cruise divided working status control system, it is characterised in that: described include from car safe condition: safe, dangerous and abnormally dangerous Three Estate；Described front truck includes relative to from the state of car: without car state, remote proximity state, plateau, strong acceleration mode, strong deceleration regime and overspeed condition；Described state without car refers to do not have target vehicle from Herba Plantaginis in radar effective detection range；Described remote proximity state refers to that vehicle headway is much larger than the desired following distance of driver and front vehicle speed much smaller than from vehicle speed；Described overspeed condition refer to forward direction target vehicle velocity more than driver set from car cruise speed.
3. a kind of automotive self-adaptive cruise divided working status control system, it is characterised in that: described control decision unit includes that optimal controller selects module, optimum control amount computing module and controlled quentity controlled variable continuous treatment module；Described optimal controller includes: cruise control system, close to controller, following controller, strong acceleration controller, strong retardation controller and brake hard controller.Described enable to from car under the premise that security is guaranteed close to controller, with the shortest front truck around and stably follow traveling, it is achieved timing-optimal control function, be chosen when state recognition result is proximity state；Described strong acceleration controller can reduce the degree uncomfortable from car oil consumption deterioration and driver that front truck accelerates suddenly to bring, it is achieved the optimum control function of high degree of comfort and low oil consumption, is chosen when state recognition result is strong acceleration mode；Described strong retardation controller can improve front truck and slow down suddenly or driver comfort degree during other car doubling by force and vehicle safety, realize driver comfort degree optimum control function on the premise of ensureing safety, be chosen when state recognition result is strong deceleration regime.
4. automotive self-adaptive cruise divided working status control system as claimed in claim 1 a kind of, it is characterised in that: specifically include following steps:
Whether step 1: by being installed on the radar from Herba Plantaginis end, have target vehicle in the coverage of detection front in real time, the most then indicate without car state；
Step 2: when having target vehicle to travel in the coverage of front, according to auto alarm distance and collision distance model, the real time running State-output value of combining information collecting unit and driver's preset value, calculate alarm distance and collision distance, and compare with actual vehicle headway, identification is made to from the safe condition of car, including: safe condition, precarious position and abnormally dangerous state；
Step 3: when, when car is in a safe condition, comparing forward direction target vehicle velocity and driver is set in advance from car cruise velocity magnitude, identify whether front truck is in overspeed condition；Front vehicle speed is more than from car cruise speed, then it represents that front truck is in overspeed condition；
Step 4: when forward direction target vehicle does not exceed the speed limit, combining adaptive cruise control system work characteristics and the difference of driver's perception characteristic, setting up the forward direction dbjective state identification problem meeting most of driver, the remote proximity state described in claim 2, plateau, strong acceleration mode and strong deceleration regime are made identification by drive simulating person；
Step 5: under each state described in analytical procedure 2, driver controls target and lays particular stress on the difference of degree, with vehicle safety, followability, fuel economy and driver's riding comfort as Con trolling index, set up Multiobjective Optimal Control Problems, calculate optimum control acceleration, and selecting optimum control output according to state recognition result, it is achieved divided working status controls；
Step 6: when when car is in a safe condition, requirement in view of driver's high degree of comfort, avoid different conditions handoff procedure that sudden change of acceleration may be caused to cause the shake that vehicle is bigger, need that output is controlled acceleration and carry out continuous treatment, within the scope of output rate of acceleration change is limited to driver comfort degree.
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| CN107139923A (en) * | 2017-05-11 | 2017-09-08 | 中科院微电子研究所昆山分所 | A kind of ACC decision-making techniques and system |
| CN109532848A (en) * | 2018-11-23 | 2019-03-29 | 中汽研（天津）汽车工程研究院有限公司 | Multiobjective optimization control method and control system for intelligent electric automobile |
| CN109774714A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
| CN110588652A (en) * | 2019-08-16 | 2019-12-20 | 江苏大学 | Low-oil-consumption vehicle adaptive cruise control system and control method thereof |
| CN110723143A (en) * | 2019-09-29 | 2020-01-24 | 江苏大学 | Economical self-adaptive cruise control system and method suitable for multiple driving conditions |
| CN110816530A (en) * | 2019-11-14 | 2020-02-21 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
| CN110893852A (en) * | 2018-08-24 | 2020-03-20 | 贯闳科技股份有限公司 | Speed regulating device for automobile and motorcycle |
| CN112092813A (en) * | 2020-09-25 | 2020-12-18 | 北京百度网讯科技有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN112896162A (en) * | 2021-03-29 | 2021-06-04 | 东风汽车集团股份有限公司 | Method and device for optimally controlling longitudinal running of automobile under ramp working condition |
| CN113147761A (en) * | 2021-06-02 | 2021-07-23 | 宝能(广州)汽车研究院有限公司 | Vehicle speed control method and system |
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| CN107139923B (en) * | 2017-05-11 | 2019-07-09 | 中科院微电子研究所昆山分所 | A kind of ACC decision-making technique and system |
| CN107139923A (en) * | 2017-05-11 | 2017-09-08 | 中科院微电子研究所昆山分所 | A kind of ACC decision-making techniques and system |
| CN110893852A (en) * | 2018-08-24 | 2020-03-20 | 贯闳科技股份有限公司 | Speed regulating device for automobile and motorcycle |
| CN110893852B (en) * | 2018-08-24 | 2020-12-15 | 贯闳科技股份有限公司 | Speed control device for vehicle |
| CN109532848A (en) * | 2018-11-23 | 2019-03-29 | 中汽研（天津）汽车工程研究院有限公司 | Multiobjective optimization control method and control system for intelligent electric automobile |
| CN109774714A (en) * | 2018-12-29 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Control method and device for automatic driving vehicle |
| CN110588652A (en) * | 2019-08-16 | 2019-12-20 | 江苏大学 | Low-oil-consumption vehicle adaptive cruise control system and control method thereof |
| CN110723143A (en) * | 2019-09-29 | 2020-01-24 | 江苏大学 | Economical self-adaptive cruise control system and method suitable for multiple driving conditions |
| CN110816530A (en) * | 2019-11-14 | 2020-02-21 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
| CN110816530B (en) * | 2019-11-14 | 2021-05-11 | 东风商用车有限公司 | Speed following control method and system of adaptive cruise system |
| WO2021093341A1 (en) * | 2019-11-14 | 2021-05-20 | 东风商用车有限公司 | Speed following control method and system for adaptive cruise control system |
| CN112092813A (en) * | 2020-09-25 | 2020-12-18 | 北京百度网讯科技有限公司 | Vehicle control method, device, electronic device and storage medium |
| CN112092813B (en) * | 2020-09-25 | 2022-04-01 | 阿波罗智能技术(北京)有限公司 | Vehicle control method, device, electronic device and storage medium |
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| WO2022105418A1 (en) * | 2020-11-20 | 2022-05-27 | 奇瑞汽车股份有限公司 | Adaptive cruise control method and system, and vehicle |
| CN112896162A (en) * | 2021-03-29 | 2021-06-04 | 东风汽车集团股份有限公司 | Method and device for optimally controlling longitudinal running of automobile under ramp working condition |
| CN113147761A (en) * | 2021-06-02 | 2021-07-23 | 宝能(广州)汽车研究院有限公司 | Vehicle speed control method and system |
| CN116620281A (en) * | 2023-07-21 | 2023-08-22 | 科大国创合肥智能汽车科技有限公司 | Adaptive cruise system ride control method, electronic equipment and storage medium |
| CN116620281B (en) * | 2023-07-21 | 2023-10-20 | 科大国创合肥智能汽车科技有限公司 | Adaptive cruise system ride control method, electronic equipment and storage medium |
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Application publication date: 20161123 |