CN106560367A - Vehicle adaptive cruise controller, method and system - Google Patents

Vehicle adaptive cruise controller, method and system Download PDF

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Publication number
CN106560367A
CN106560367A CN201510643940.7A CN201510643940A CN106560367A CN 106560367 A CN106560367 A CN 106560367A CN 201510643940 A CN201510643940 A CN 201510643940A CN 106560367 A CN106560367 A CN 106560367A
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CN
China
Prior art keywords
car
vehicle
acceleration
cut
speed
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CN201510643940.7A
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Chinese (zh)
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CN106560367B (en
Inventor
翟辉冬
李峰
曹娣
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上海汽车集团股份有限公司
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Priority to CN201510643940.7A priority Critical patent/CN106560367B/en
Publication of CN106560367A publication Critical patent/CN106560367A/en
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Publication of CN106560367B publication Critical patent/CN106560367B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162Speed limiting therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04Traffic conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • B60W2520/105Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/804Relative longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • B60W2720/106Longitudinal acceleration

Abstract

The invention relates to a vehicle adaptive cruise controller, a method and a system; the method comprises the following steps: monitoring a wait-to-cut in vehicle on an adjacent lane to send a signal of cutting into the present lane; calculating a second acceleration speed of the self vehicle according to the motion information of the wait-to-cut in vehicle; calculating an updated acceleration speed of the self vehicle according to the present acceleration speed and the second acceleration speed; adjusting the self vehicle speed according to the calculated updated acceleration speed. The method allows the self vehicle to gradually adjust the speed in a process in which the wait-to-cut in vehicle cuts into the present lane, thus preventing self vehicle from suddenly changing speed, reducing traffic accidents caused by sudden changes of the speed, and removing driver discomfort.

Description

Adaptive cruise control device, method and system

Technical field

The present invention relates to technical field of vehicle safety, more particularly to a kind of adaptive cruise control device, Method and system.

Background technology

Adaptive learning algorithms (Adaptive Cruise Control, ACC) are a permission vehicle cruise controls System processed is mainly used in lifting driving safety by regulating the speed to adapt to the automobile function of traffic, The control technology of adaptive cruise control system is increasingly taken seriously.

In the prior art, adaptive cruise control system mainly by detection this car forward march whether There is vehicle, when vehicle occurs in front, slowed down by active, to control the conjunction of this car and front vehicles Reason spacing, when front is without vehicle, the speed traveling set according to driver.However, existing adaptive Cruise control system is answered when there are other vehicles to be cut into the road ahead of this car, with certain limitation, This is mainly shown as:During road, this car slows down suddenly, and surrounding normal driving vehicle is interfered So as to easily cause traffic accident, secondly, this car slows down suddenly makes driver produce sense of discomfort.

The content of the invention

The technical problem that the embodiment of the present invention is solved is how to avoid having vehicle to cut in front of this car track The unexpected deceleration of Shi Yinqi.

To solve the above problems, a kind of adaptive cruise control method is embodiments provided, Methods described includes:

When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, according to institute The movable information for stating vehicle to be cut calculates second acceleration of this car;

According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car;

According to the speed that acceleration adjusts this car that updates of this car;

Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut Spacing with this car.

Alternatively, it is described to monitor to need to be cut the signal that vehicle sends incision current lane on adjacent lane Including:To be on adjacent lane or leave in vehicle of the adjacent lane not completely into current lane from this Car is recently and nearly this car one is side steering indicating light installed opens and described in vehicle of the flashing times more than or equal to n time be judged as Vehicle to be cut;Wherein, n is the natural number more than or equal to 3.

Alternatively, the self-adapting cruise control method also includes:The lane line of detection current lane, root According to the lane line and the position relationship of vehicle, judge that the vehicle is in adjacent lane or current lane.

Alternatively, the movable information of vehicle to be cut described in the basis calculates second acceleration of this car, Including:

Using formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate described car the second acceleration; Wherein:af2For second acceleration of this car, K is known the adding by acquisition of tabling look-up of the speed according to this car Speed gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11;Vp For the speed of the vehicle to be cut;VCFor the speed of this car;RsFor the front car of this car on current lane Spacing with this car;RdFor desired spacing.

Alternatively, the renewal according to the current acceleration and second acceleration calculation this car adds Speed, including:

The renewal acceleration is calculated using formula a=w1 × af1+w2 × af2;Wherein, a adds for described renewal Speed, w1 and w2 are weight coefficient, and w1+w2=1;Af1 is the current acceleration of this car, Af2 is second acceleration of this car.

Alternatively, Ruo Benche is in follow the mode, and the current acceleration of described car is according to current lane What the movable information of upper front side vehicle was calculated, including:

Using formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate under the follow the mode described The current acceleration of car;Wherein:af1For the current acceleration of this car, K is the known speed according to this car By the acceleration gain coefficient of acquisition of tabling look-up;λfFor the weight ratio of known range error and velocity error, Representative value takes 11;Vp1For the speed of this front side vehicle on current lane;VCFor the speed of this car;Rs1 For the front vehicles and this car spacing;RdFor desired spacing.

Alternatively, Ruo Benche is in cruise mode, and the current acceleration of described car is set according to user Speed and current vehicle speed difference by acquisition of tabling look-up.

The embodiment of the present invention additionally provides a kind of Vehicle Adaptive Cruising Control Systems, and the system includes: Monitor, adaptive learning algorithms device and drive control device;The adaptive learning algorithms device coupling is described Monitor and the drive control device;

The monitor, is suitable to monitor the signal that vehicle to be cut on adjacent lane sends incision current lane, Obtain described shown when movable information, the cruise mode of vehicle is cut;

The adaptive learning algorithms device, is suitable to calculate this car according to the movable information of the vehicle to be cut The second acceleration, added according to the renewal of the current acceleration of this car and second acceleration calculation this car Speed;

The drive control device, is suitable to the speed that acceleration adjusts this car that updates according to this car;

Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut Spacing with this car.

Alternatively, the monitor includes camera and signal processor;The signal processor is suitable to root According to the camera gather signal, will in adjacent lane on or leave adjacent lane not completely into ought In the vehicle in front track from this car recently and nearly this car one is side steering indicating light installed opens and flashing times are more than or equal to n Secondary vehicle is judged as the incision vehicle, and is suitable to obtain the movable information of vehicle to be cut;

Wherein, n is the natural number more than or equal to 3;The movable information of the vehicle to be cut includes waiting to cut The spacing of car speed and vehicle to be cut and this car.

Alternatively, the signal processor is further adapted for determining current vehicle according to the signal of camera collection The lane line in road, according to the lane line and the position relationship of vehicle, judges that the vehicle is in adjacent car Road or current lane.

The embodiment of the present invention additionally provides a kind of adaptive cruise control device, and the vehicle self adaptation is patrolled Route controller includes:Current acceleration acquiring unit, the second acceleration obtainment unit and renewal accelerometer Calculate unit;

The current acceleration acquiring unit, is suitable to obtain the current acceleration of this car;

Second acceleration obtainment unit, is suitable to calculate this according to the movable information of the vehicle to be cut Second acceleration of car;

The renewal acceleration calculation unit, is suitable to be accelerated according to the current acceleration and described second of this car Degree calculates the renewal acceleration of this car.

Alternatively, second acceleration obtainment unit is in the movable information meter according to the vehicle to be cut When calculating second acceleration of this car, formula a is adapted in use tof2=K × Vc×[(Vp2-Vc)–λf(Rs2–Rd)] meter Calculate the second acceleration of described car;

Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11; Vp2For the speed of the vehicle to be cut;VCFor the speed of this car;Rs2For the vehicle to be cut and this car Spacing;RdFor desired spacing.

Alternatively, the renewal acceleration calculation unit is adapted in use to formula a=w1×af1+w2×af2Calculate institute State renewal acceleration;Wherein, a be the renewal acceleration, w1And w2For weight coefficient, and w1+ w2=1;af1For the current acceleration of this car, af2For second acceleration of this car.

Alternatively, the current acceleration acquiring unit is suitable to when this car is in follow the mode, using public affairs Formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate the current of described car under the follow the mode plus Speed;

Wherein:Af1 is the current acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λ f are the weight ratio of known range error and velocity error, and representative value takes 11; Vp1 is the speed of this front side vehicle on current lane;VC is the speed of this car;Rs1 is the front car With this car spacing;Rd is desired spacing.

Alternatively, the current acceleration acquiring unit, be suitable to this car be in cruise mode when, according to The speed of user's setting and the difference of current vehicle speed are by the acquisition current acceleration of tabling look-up.

Compared with prior art, technical scheme has the advantages that:

When sending the signal of incision current lane by needing to be cut vehicle on adjacent lane is monitored, root Second acceleration of this car is calculated according to the movable information of the vehicle to be cut, preacceleration is worked as according to this car The renewal acceleration with this car of second acceleration calculation is spent, so as to cut current vehicle in vehicle to be cut The speed of this car is gradually adjusted during road, it is to avoid this car speed suddenly change, reduced because speed is unexpected The traffic accident that change is caused, and the sense of discomfort of driver.

Description of the drawings

Fig. 1 is that the vehicle a kind of to be cut in the embodiment of the present invention prepares to cut the scene graph in this car track;

Fig. 2 is a kind of flow chart of the adaptive cruise control method in the embodiment of the present invention;

Fig. 3 is that a kind of calculating in the embodiment of the present invention updates two weight coefficients used by acceleration from treating Incision vehicle is started a cut through to the situation over time of end;

Fig. 4 is a kind of structural representation of the Vehicle Adaptive Cruising Control Systems in the embodiment of the present invention;

Fig. 5 is a kind of structural representation of the adaptive cruise control device in the embodiment of the present invention.

Specific embodiment

As it was previously stated, in this front side in having other vehicles to be cut into the current lane of this car, it is existing Adaptive cruise control system has certain limitation, and this is mainly shown as:During road, this car Suddenly slow down, surrounding normal driving vehicle is interfered so as to easily cause traffic accident, secondly, this car Suddenly slowing down makes driver produce sense of discomfort.

For the problems referred to above, a kind of adaptive cruise control method, institute are embodiments provided When stating method and sending the signal of incision current lane by needing to be cut vehicle on adjacent lane is monitored, Second acceleration of this car is calculated according to the movable information of the vehicle to be cut, current according to this car adds The renewal acceleration of speed and second acceleration calculation this car, so as to current in vehicle to be cut incision The process in track gradually adjusts the speed of this car, it is to avoid this car speed suddenly change, reduces because speed is unexpected The traffic accident that change is caused, and the sense of discomfort that driver feels.

It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings The specific embodiment of the present invention is described in detail.

Fig. 1 is that the vehicle a kind of to be cut in the embodiment of the present invention prepares to cut the scene graph in this car track. Fig. 1 shows that two kinds the scene that vehicle is cut into this Che Chedaoben front sides occur.

The first scene is that vehicle is in cruise mode, sees in Fig. 1 and schemes a), and the cruise mode refers to this Scene without vehicle within the front safe distance of this car 1 on the place track 10 of car 1.As schemed a) in Fig. 1 Under shown cruise mode, the adjacent the right track 11 in the track of this car 1 has a vehicle 3 to prepare incision this car 1 Relative to the front of this car 1 on track 10.

Second scene is that vehicle is in follow the mode, sees in Fig. 1 and schemes b), and the follow the mode refers to this There is the scene of vehicle on the track 10 of car 1 within the front safe distance of this car 1.It is as b) shown in schemed in Fig. 1 Follow the mode under, the adjacent the right track 11 in 1 track of this car 10 have a vehicle 3 prepare incision this car 1 Relative to the front of this car 1 on track, and on the place track 10 of this car 1 this car 1 front safe distance Within have a vehicle 4.

In being embodied as, can monitor whether there is vehicle to be cut by monitoring device 2, the monitoring Equipment 2 can be installed on the top cover of vehicle body, and the investigative range of the monitoring device 2 can cover this The vehicle in the front of car 1 and the left of this car 1 and the vehicle of right.

In being embodied as, the steering indicating light of vehicle on adjacent lane can be monitored by the monitoring device 2 Discriminate whether there is vehicle to be cut as signal designation.Specifically, can be by adjacent lane 11,12 It is upper or leave adjacent lane 11,12 but not completely in the vehicle of current lane 10 from this car 1 recently, Nearly Current vehicle one side steering indicating light installed 5 open and flash the vehicle of n time be judged as described in vehicle to be cut;Its In, n is the natural number more than or equal to 3.If n takes 3 in Fig. 1, vehicle 3 on adjacent lane 11, From this car 1 recently, if the flashing times of steering indicating light 5 of nearly this side of car 1 of vehicle 3 are more than or equal to 3 Secondary, then the vehicle 3 is vehicle to be cut.

It is pointed out that the occurrence of the n can set as needed, the selection of n values will be caused Judge vehicle and be consistent with actual conditions as far as possible as vehicle to be cut.

In being embodied as, the monitoring information of the monitoring device 2 can include the track in monitoring range The movable information of line and monitored vehicle.According to the lane line and the position relationship of Adjacent vehicles, judge The Adjacent vehicles are in adjacent lane or current lane, on here basis, can again carry out described treating The judgement of incision vehicle.The movable information of the monitored vehicle can include the motion speed of monitored vehicle The spacing of degree and monitored vehicle and this car 1, the movable information can be used as the ginseng of adjustment vehicle speed Examine factor.

In prior art under cruise mode, this car 1 is just being travelled with setting speed in current lane or accelerated To setting speed, when there is vehicle 3 to prepare to be cut into 1 place track 1 front of this car of this car, existing self adaptation Cruise control system starts to regulate the speed, and travels still according to original speed or is still adding Speed, only when the row of vehicle 3 of incision is prepared to 1 front of this car, existing adaptive cruise control system is Start using vehicle 3 as with car target adjustment speed.

In prior art under follow the mode, this car 1 is with car target, sheet with the vehicle 4 in front of current lane Spacing adjustment speed of the adaptive cruise control system of car 1 just according to the speed of the vehicle 4 and with this car 1 Degree, when there is vehicle 3 to prepare to be cut into 1 place track 1 front of this car of this car, existing adaptive learning algorithms System does not start to regulate the speed, existing only when the row of vehicle 3 of incision is prepared to 1 front of this car It is vehicle 3 that adaptive cruise control system just starts to change with car target, then the adjustment for carrying out speed.

In the embodiment of the present invention, no matter this car 1 is in cruise mode or follow the mode, can be by with neighbour Closely track judges whether vehicle 3 is to treat apart from the steering indicating light 5 of the nearest vehicle 3 of this car 1 as signal foundation Incision vehicle, when vehicle 3 is described when vehicle is cut, this car 1 just can start to adjust speed.Compare existing There is technology, the embodiment of the present invention is due to determining when vehicle preparation incision current lane front is cut, just Start to adjust this car speed, the process of this anticipation can just avoid adjusting this car speed in prior art delayed And then the situation that needs slow down suddenly.

It is pointed out that the present invention can need to be cut using other signals as judgement adjacent lane The indication signal of vehicle, is not limited to use the flashing times of the steering indicating light as judgment basis.

Below by the concrete steps of adaptive cruise control method in detail this car is described in detail carries out speed adjustment Process.

Fig. 2 is a kind of flow chart of the adaptive cruise control method in the embodiment of the present invention.Below Concrete steps in flow process are illustrated.

S201:When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, root Second acceleration of this car is calculated according to the movable information of the vehicle to be cut.

In being embodied as, the movable information of the vehicle to be cut can include car speed to be cut, And the spacing of vehicle to be cut and this car.

In being embodied as, the lane line of current lane can be detected, according to the lane line and vehicle Position relationship, judge that vehicle is in adjacent lane or current lane.

In being embodied as, can receive vehicle to be cut on adjacent lane and send to cut by monitoring and work as The signal in front track, judges to whether there is vehicle to be cut on adjacent lane.

In being embodied as, incision current lane can be sent using vehicle turn signal as the vehicle to be cut Signal.Specifically, will be on adjacent lane or leave adjacent lane not completely into current lane In vehicle from this car recently and nearly this car one is side steering indicating light installed opens and vehicle of the flashing times equal to n time is sentenced Break as the vehicle to be cut;Wherein, n is the natural number more than or equal to 3.

It is pointed out that the occurrence of the n can set as needed, the selection of n values will ensure Effectively judge the actual vehicle as current lane to be cut of vehicle.

In being embodied as, second acceleration refers to the current acceleration of the vehicle to be cut.Specifically Ground, according to described when the movable information for cutting vehicle calculates second acceleration of this car, it is possible to use public Formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculating the second acceleration of described car;

Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11; Vp2For the speed of the vehicle to be cut;VCFor the speed of this car;Rs2For the vehicle to be cut and originally The spacing of car;RdFor desired spacing.

The table used above by acquisition acceleration gain COEFFICIENT K of tabling look-up is those skilled in the art institute energy Understand, the vehicle velocity V of vehicle to be cutp2With the front vehicles and the spacing of this car of this car on current lane Rs2By acquired in monitoring device, the vehicle velocity V of this carCCan be obtained by the vehicle speed sensor of this car, the phase The spacing R of prestigedCan be set by user.

S202:According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car.

In being embodied as, the current acceleration acquisition methods of described car are in follow the mode and cruise mode In it is different.

When this car is in follow the mode, i.e., there is car within the front safe distance of this car 1 on this car track Scene in, the current acceleration of this car can be according to the motion letter of this front side vehicle on current lane Breath is calculated, and the movable information of the front vehicles includes the travel speed of the front vehicles and the front The distance of vehicle and described car.Specifically, it is possible to use formula af1=K × Vc1×[(Vp1-Vc1)–λf1(Rs1 –Rd1)] calculate the current acceleration of described car under the follow the mode;Wherein:af1For the current of this car Acceleration, K is the known acceleration gain coefficient for passing through acquisition of tabling look-up according to the speed of this car;λfFor The range error known and the weight ratio of velocity error, representative value takes 11;Vp1For this front side on current lane The speed of vehicle;VC1For the speed of this car;Rs1For this front side vehicle on the current lane and this car Spacing;RdFor desired spacing.

The table used above by acquisition acceleration gain COEFFICIENT K of tabling look-up is those skilled in the art institute energy Understand, the vehicle velocity V of vehicle to be cutp1With the front vehicles and the spacing of this car of this car on current lane Rs1By acquired in monitoring device, the vehicle velocity V of this carCCan be obtained by the vehicle speed sensor of this car, the phase The spacing R of prestigedCan be set by user.

When this car is in cruise mode, i.e., do not have within the front safe distance of this car 1 on the track of this car 1 There is the scene of vehicle, the current acceleration of described car is speed and current vehicle speed according to user's setting Difference is tabled look-up by the difference and finds corresponding accekeration by acquisition of tabling look-up, described to table look-up It is that those skilled in the art are to understand.

In being embodied as, according to the current acceleration of this car and second acceleration calculation this car more New acceleration, the renewal acceleration is exactly this car in the scene for needing to be cut vehicle incision current lane Adjust the basis of this vehicle speed.

Specifically, it is possible to use formula a=w1×af1+w2×af2Calculate the renewal acceleration;Wherein, a For the renewal acceleration, w1And w2For weight coefficient, and w1+w2=1;af1For described car Current acceleration, af2For the second acceleration of described car.

W in above-mentioned formula1For the weight coefficient of the current acceleration of described car, w2For described car The weight coefficient of the second acceleration, and w1+w2=1, w1And w2Size variation it is as shown in Figure 3.

Fig. 3 shows that a kind of car calculates starting at any time from incision for two weight coefficients of renewal acceleration Between situation of change.As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1:Time is 0 to sentence Surely when incision vehicle 3 is not started a cut through, w2=0, w1=1, the renewal acceleration a of this car 1 is depended on The current acceleration of this car 1;It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0, w1=1, vehicle to be cut 3 completes cut process, this, 1 renewal acceleration a depends on vehicle to be cut 3 Acceleration after incision current lane, i.e. the value of the second acceleration, now, this car 1 becomes with car target To have been cut into the vehicle to be cut 3 for completing;When the time in 0 between t, vehicle to be cut 3 is in The process of incision current lane 10, in the process, w1It is being gradually reduced, w2Gradually increase, and it is full Sufficient w1+w2=1.

It is the time of the incision of vehicle to be cut 3 current lane 10 within time t in being embodied as Process, is also process that this car 1 is gradually adjusted using the speed that the technical program carries out this car.Need to refer to Go out, the concrete value of time t can set as needed, if the setting of t values is too small to cause setting The cut process of vehicle to be cut is too short, and does not have the transitional function that this car adjusts speed, if t values are excessive Can cause set vehicle to be cut cut process it is long, this car response time is long, does not also just have Effectively adjust the effect of speed.

Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t Selection, according to speed size, choice of dynamical t, t values are suitably relaxed when speed is larger, it is whole to ensure The comfortableness of car, on the contrary can set that t is less, and the representative value selection range of t is between 5s to 10s.

S203:According to the speed that acceleration adjusts this car that updates of this car.

In being embodied as, the renewal acceleration a of this car is obtained according to step S102, according to this car Renewal acceleration a can adjust the speed of this car.

Specifically, when this car belongs to oil-engine driven vehicle, can be according to the renewal acceleration a The speed of this car is adjusted by engine and brake, when this car belongs to electric type vehicle, can be with The speed of this car is adjusted by motor drive controller according to the renewal acceleration a.

It is pointed out that the process of above-mentioned steps S201 to step S203, described to be cut determining After entering vehicle, the circulation during the entire process of the vehicle incision current lane to be cut is performed, i.e. this car Current acceleration a can constantly be calculatedf1, the second acceleration af2With update acceleration a, constantly Ground dynamic adjusts the speed of this car.In the embodiment of the present invention, the vehicle incision current lane to be cut Selection of the whole process setting depending on the t values.

The embodiment of the present invention judges that the vehicle to be cut is by the switching in signal that vehicle to be cut is sent No to start a cut through current lane, at the same time, this car starts to obtain second acceleration and described current Acceleration, according to second acceleration and the current acceleration renewal acceleration of this car is calculated, The speed of this car is adjusted accordingly, anticipation and cut that above-mentioned car is cut to the vehicle to be cut The gradually regulation of journey speed, compared to existing technology, it is to avoid this car slows down suddenly, reduces potential safety hazard With the sense of discomfort of driver.

Fig. 3 is that a kind of calculating in the embodiment of the present invention updates two weight coefficients used by acceleration from treating Incision vehicle is started a cut through to the situation over time of end.

As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1:Time is 0 to judge car to be cut 3 when not starting a cut through, w2=0, w1=1, the acceleration a that updates of this car 1 depends on working as this car 1 Preacceleration;It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0, w1=1, treat Incision vehicle 3 completes cut process, and the renewal acceleration a of this car 1 cuts depending on vehicle to be cut 3 Acceleration after current lane, the i.e. value of the second acceleration, now, this car 1 is changed into car target The vehicle to be cut 3 that Jing incisions are completed;When the time in 0 between t, vehicle to be cut 3 is in incision The process of current lane 10, in the process, w1It is being gradually reduced, w2Gradually increase, and meet w1+w2=1.

In being embodied as, the change of w can be set by the value of setting t, if t values set too small meeting Cause the cut process of the vehicle to be cut of setting too short, and do not have the transitional function that this car adjusts speed, If t values conference cause set vehicle to be cut cut process it is long, this car response time is long, The effect for effectively adjusting speed is not just had.

Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t Selection, according to speed size choice of dynamical t, t values are suitably relaxed when speed is larger, to ensure car load Comfortableness, otherwise can set that t is less, the representative value selection range of t is between 5s to 10s.

Fig. 4 is a kind of structural representation of the Vehicle Adaptive Cruising Control Systems in the embodiment of the present invention. As shown in figure 4, the Vehicle Adaptive Cruising Control Systems 40 can include:It is monitor 401, adaptive Answer cruise control 402 and drive control device 403.

The monitor 401, is suitable to monitor the letter that vehicle to be cut on adjacent lane sends incision current lane Number, obtain the movable information of the vehicle to be cut;

The adaptive learning algorithms device 402, is suitable to calculate this according to the movable information of the vehicle to be cut Second acceleration of car, according to the renewal of the current acceleration of this car and second acceleration calculation this car Acceleration;

The drive control device 403, is suitable to the speed that acceleration adjusts this car that updates according to this car;

Wherein, the movable information of the vehicle to be cut includes car speed to be cut and car to be cut Spacing with this car.

In being embodied as, the monitor can include camera 4011 and signal processor 4012;Institute The signal that signal processor 4012 is suitable to be gathered according to the camera 4011 is stated, will be in adjacent lane It is upper or leave adjacent lane not completely in the vehicle of current lane from this car recently and close to this car side Steering indicating light is opened and vehicle of the flashing times more than or equal to n time is judged as the incision vehicle, is suitable to obtain The movable information of vehicle to be cut;Wherein, n is the natural number more than or equal to 3.

The signal processor 4012 is further adapted for being determined currently according to the signal of the collection of the camera 4011 The lane line in track, according to the lane line and the position relationship of vehicle, judges that the vehicle is in adjacent Track or current lane.

Wait to cut according to the switching in signal that vehicle to be cut is sent judges by arranging the monitor Whether vehicle starts a cut through current lane, described when incision vehicle starts a cut through current lane when judging, Adaptive learning algorithms device obtains second acceleration and the current acceleration, adds according to described second Speed and the current acceleration calculate the renewal acceleration of this car, and the speed of this car is adjusted accordingly, Anticipation and the gradually regulation of cut process speed that above-mentioned car is cut to the vehicle to be cut, phase Compare prior art, it is to avoid this car slows down suddenly, reduces the sense of discomfort of potential safety hazard and driver.

Fig. 5 is a kind of structural representation of the adaptive cruise control device in the embodiment of the present invention.Such as Shown in Fig. 5, the adaptive cruise control device 50 can include:Current acceleration acquiring unit 501, Second acceleration obtainment unit 502 and renewal acceleration calculation unit 503;

The current acceleration acquiring unit 501, is suitable to obtain the current acceleration of this car;

Second acceleration obtainment unit 502, is suitable to be calculated according to the movable information of the vehicle to be cut Second acceleration of this car;

The renewal acceleration calculation unit 503, is suitable to be added according to the current acceleration and described second of this car Speed calculates the renewal acceleration of this car.

In being embodied as, Ruo Benche is in follow the mode, and the current acceleration acquiring unit 501 is fitted In using formula af1=K × Vc×[(Vp1-Vc)–λf(Rs1–Rd)] calculate under the follow the mode described The current acceleration of car;

Wherein:af1For the current acceleration of this car, K is known to be obtained by tabling look-up according to the speed of this car The acceleration gain coefficient for obtaining;λfFor the weight ratio of known range error and velocity error, representative value takes 11;Vp1For the speed of this front side vehicle on current lane;VCFor the speed of this car;Rs1Before described Square vehicle and this car spacing;RdFor desired spacing.

Ruo Benche is in cruise mode, and the current acceleration acquiring unit 501 is suitable to be set according to user Speed and current vehicle speed difference by the acquisition current acceleration of tabling look-up.

In being embodied as, second acceleration obtainment unit 502 is according to the vehicle to be cut When movable information calculates second acceleration of this car, formula a is adapted in use tof2=K × Vc×[(Vp2-Vc)–λf(Rs2 –Rd)] calculate described car the second acceleration;

Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11; Vp2For the speed of the vehicle to be cut;VCFor the speed of this car;Rs2For the vehicle to be cut and originally The spacing of car;RdFor desired spacing.

In being embodied as implementing, the acceleration calculation unit 503 that updates is adding according to the current of this car During the renewal acceleration of speed and second acceleration calculation this car, formula a=w is adapted in use to1×af1+w2 ×af2Calculate the renewal acceleration;Wherein, a be the renewal acceleration, w1And w2For weight system Number, and w1+w2=1;af1For the current acceleration of this car, af2For second acceleration of this car.

W in above-mentioned formula1For the weight coefficient of the current acceleration of described car, w2For described car The weight coefficient of the second acceleration, and w1+w2=1, w1And w2Size variation it is as shown in Figure 3. As shown in figure 3, w1+w2=1.Illustrate with reference to Fig. 1:Time is 0 to judge vehicle to be cut 3 When not starting a cut through, w2=0, w1=1, the acceleration a that updates of this car 1 adds depending on the current of this car 1 Speed;It is that t has been cut into terminating to judge vehicle to be cut 3 when the time, w2=0, w1=1, wait to cut Vehicle 3 completes cut process, and the renewal acceleration a of this car 1 cuts currently depending on vehicle to be cut 3 Acceleration behind track, the i.e. value of the second acceleration, now, this car 1 is changed into having cut with car target Enter the vehicle to be cut 3 for completing;When the time in 0 between t, vehicle to be cut 3 is current in incision The process in track 10, in the process, w1It is being gradually reduced, w2Gradually increase, and meet w1+w2 =1.

It is the time of the incision of vehicle to be cut 3 current lane 10 within time t in being embodied as Process, is also process that this car 1 is gradually adjusted using the speed that the technical program carries out this car.Need to refer to Go out, the concrete value of time t can set as needed, if the setting of t values is too small to cause setting The cut process of vehicle to be cut is too short, and does not have the transitional function that this car adjusts speed, if t values are excessive Can cause set vehicle to be cut cut process it is long, this car response time is long, does not also just have Effectively adjust the effect of speed.

Specifically, the characteristic of the current speed of this car and vehicle itself includes that deadweight and braking ability can affect t Selection, according to speed size, choice of dynamical t, t values are suitably relaxed when speed is larger, it is whole to ensure The comfortableness of car, on the contrary can set that t is less, and the representative value selection range of t is between 5s to 10s.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment Suddenly can be by program to instruct the hardware of correlation to complete, the program can be stored in computer-readable In storage medium, storage medium can include:ROM, RAM, disk or CD etc..

Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, Without departing from the spirit and scope of the present invention, can make various changes or modifications, therefore the guarantor of the present invention Shield scope should be defined by claim limited range.

Claims (15)

1. a kind of adaptive cruise control method, it is characterised in that include:
When needing to be cut vehicle on adjacent lane is monitored and sending the signal of incision current lane, according to described The movable information of vehicle to be cut calculates second acceleration of this car;
According to the current acceleration of this car and the renewal acceleration of second acceleration calculation this car;
According to the speed that acceleration adjusts this car that updates of this car;
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and vehicle to be cut With the spacing of this car.
2. adaptive cruise control method according to claim 1, it is characterised in that the monitoring Needing to be cut vehicle on adjacent lane and sending the signal of incision current lane includes:Will be in adjacent car On road or leave adjacent lane not completely in the vehicle of current lane from this car recently and close to this car One side steering indicating light installed simultaneously vehicle of the flashing times more than or equal to n time of opening is judged as the vehicle to be cut; Wherein, n is the natural number more than or equal to 3.
3. adaptive cruise control method according to claim 2, it is characterised in that also include: The lane line of detection current lane, according to the lane line and the position relationship of vehicle, judges the car It is in adjacent lane or current lane.
4. adaptive cruise control method according to claim 1, it is characterised in that the basis The movable information of the vehicle to be cut calculates second acceleration of this car, including:
Using formula af2=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate described car the second acceleration;Its In:af2For second acceleration of this car, K is the known speed according to this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11;
VpFor the speed of the vehicle to be cut;VCFor the speed of this car;RsBefore this car on current lane The spacing of square vehicle and this car;RdFor desired spacing.
5. adaptive cruise control method according to claim 1, it is characterised in that the basis The renewal acceleration of the current acceleration and second acceleration calculation this car, including:
Using formula a=w1×af1+w2×af2Calculate the renewal acceleration;Wherein, a accelerates for described renewal Degree, w1And w2For weight coefficient, and w1+w2=1;af1For the current acceleration of this car, af2For second acceleration of this car.
6. adaptive cruise control method according to claim 1, it is characterised in that at Ruo Benche In follow the mode, the current acceleration of described car is the fortune according to this front side vehicle on current lane What dynamic information was calculated, including:
Using formula af1=K × Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate under the follow the mode described The current acceleration of car;Wherein:af1For the current acceleration of this car, K is known according to this car The acceleration gain coefficient that speed passes through acquisition of tabling look-up;λfFor known range error and velocity error Weight ratio, representative value takes 11;Vp1For the speed of this front side vehicle on current lane;VCFor this car Speed;Rs1For the front vehicles and this car spacing;RdFor desired spacing.
7. adaptive cruise control method according to claim 1, it is characterised in that at Ruo Benche In cruise mode, the current acceleration of described car is speed and current vehicle speed according to user's setting Difference is by acquisition of tabling look-up.
8. a kind of Vehicle Adaptive Cruising Control Systems, it is characterised in that include:Monitor, adaptive cruise Controller and drive control device;The adaptive learning algorithms device couples the monitor and the driving Controller;
The monitor, is suitable to monitor the signal that vehicle to be cut on adjacent lane sends incision current lane, Obtain described shown when movable information, the cruise mode of vehicle is cut;
The adaptive learning algorithms device, is suitable to calculate this car according to the movable information of the vehicle to be cut Second acceleration, adds according to the renewal of the current acceleration of this car and second acceleration calculation this car Speed;
The drive control device, is suitable to the speed that acceleration adjusts this car that updates according to this car;
Wherein, the movable information of the vehicle to be cut includes car speed to be cut and vehicle to be cut With the spacing of this car.
9. Vehicle Adaptive Cruising Control Systems according to claim 8, the monitor includes camera And signal processor;The signal processor is suitable to the signal according to camera collection, will be in On adjacent lane or leave adjacent lane not completely in the vehicle of current lane from this car recently and Side steering indicating light installed simultaneously vehicle of the flashing times more than or equal to n time of opening of nearly this car one is judged as the incision car , and be suitable to obtain the movable information of vehicle to be cut;
Wherein, n is the natural number more than or equal to 3;The movable information of the vehicle to be cut includes waiting to cut The spacing of car speed and vehicle to be cut and this car.
10. Vehicle Adaptive Cruising Control Systems according to claim 9, it is characterised in that the signal Processor is further adapted for determining the lane line of current lane according to the signal of camera collection, according to institute The position relationship of lane line and vehicle is stated, judges that the vehicle is in adjacent lane or current lane.
11. a kind of adaptive cruise control devices, it is characterised in that include:Current acceleration acquiring unit, Second acceleration obtainment unit and renewal acceleration calculation unit;
The current acceleration acquiring unit, is suitable to obtain the current acceleration of this car;
Second acceleration obtainment unit, is suitable to calculate this car according to the movable information of the vehicle to be cut The second acceleration;
The renewal acceleration calculation unit, is suitable to the current acceleration and second acceleration according to this car Calculate the renewal acceleration of this car.
12. adaptive cruise control devices according to claim 11, it is characterised in that described second adds Speed acquiring unit according to it is described wait cut vehicle movable information calculate second acceleration of this car when, It is adapted in use to formula af2=K × Vc×[(Vp2-Vc)–λf(Rs2–Rd)] calculate the second acceleration of described car Degree;
Wherein:af2For second acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11;Vp2For the speed of the vehicle to be cut;VCFor the speed of this car;Rs2For the car to be cut Spacing with this car;RdFor desired spacing.
13. adaptive cruise control devices according to claim 11, it is characterised in that the renewal adds Speed computing unit is adapted in use to formula a=w1×af1+w2×af2Calculate the renewal acceleration;Wherein, A be the renewal acceleration, w1And w2For weight coefficient, and w1+w2=1;af1For this car Current acceleration, af2For second acceleration of this car.
14. adaptive cruise control devices according to claim 11, it is characterised in that described currently to add Speed acquiring unit is suitable to when this car is in follow the mode, using formula af1= K×Vc×[(Vp-Vc)–λf(Rs–Rd)] calculate the current acceleration of described car under the follow the mode;
Wherein:af1For the current acceleration of this car, K be it is known according to the speed of this car by acquisition of tabling look-up Acceleration gain coefficient;λfFor the weight ratio of known range error and velocity error, representative value takes 11;Vp1For the speed of this front side vehicle on current lane;VCFor the speed of this car;Rs1For described Front vehicles and this car spacing;RdFor desired spacing.
15. adaptive cruise control devices according to claim 11, it is characterised in that described currently to add Speed acquiring unit, is suitable to when this car is in cruise mode, according to the speed of user's setting and current The difference of speed is by the acquisition current acceleration of tabling look-up.
CN201510643940.7A 2015-09-30 2015-09-30 Adaptive cruise control device, method and system CN106560367B (en)

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