CN107128307A - A kind of vehicle cruise control method, device and automobile - Google Patents
A kind of vehicle cruise control method, device and automobile Download PDFInfo
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- CN107128307A CN107128307A CN201710316190.1A CN201710316190A CN107128307A CN 107128307 A CN107128307 A CN 107128307A CN 201710316190 A CN201710316190 A CN 201710316190A CN 107128307 A CN107128307 A CN 107128307A
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- speed
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- open degree
- accelerator open
- target vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
Abstract
The invention provides a kind of vehicle cruise control method, device and automobile, it is related to automatic Pilot technical field.The vehicle cruise control method, including：Obtain the speed of target vehicle；According to the speed of the target vehicle, the cruise mode of Current vehicle is determined；According to the cruise mode, the cruise control of Current vehicle is carried out.The embodiment of the present invention, cruise control is carried out to Current vehicle by the speed according to target vehicle, it ensure that matching for Current vehicle and target vehicle velocity, Current vehicle is allowd to carry out the adjustment of speed according to current traffic, the traffic safety of automatic driving vehicle is ensure that, the Probability of traffic accident is reduced.
Description
Technical field
The present invention relates to automatic Pilot technical field, more particularly to a kind of vehicle cruise control method, device and automobile.
Background technology
With the development of science and technology, automobile indispensable vehicles in being lived as people, have been also imparted with more
Function.For example, people long-time drive after, may be more tired out, if at this moment can not carry out in time rest be likely to because
Traffic accident is caused for fatigue driving, now, the appearance of automatic Pilot technology just solves this problem, is not influenceing people's row
In the case of journey, it is ensured that driving it is safe and reliable.
Existing automatic Pilot technology is that speed is adjusted using road condition information, not for front vehicles
Information carries out the scheme from car wagon control, causes automatic Pilot to there is potential safety hazard, it is impossible to ensure automatic Pilot safety.
The content of the invention
The present invention provides a kind of vehicle cruise control method, device and automobile, there is peace to solve existing automatic Pilot
Full hidden danger, it is impossible to ensure the problem of automatic Pilot is safe.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of vehicle cruise control method, including：
Obtain the speed of target vehicle；
According to the speed of the target vehicle, the cruise mode of Current vehicle is determined；
According to the cruise mode, the cruise control of Current vehicle is carried out.
Further, before the step of the speed of the acquisition target vehicle, in addition to：
Collection front traffic information；
If there is barrier in the road conditions of front, the distance of the barrier and Current vehicle is obtained；
If the distance is less than or equal to pre-determined distance, judge there is target vehicle in the road conditions of front.
Further, the step of speed of the acquisition target vehicle, including：
The relative speed of Current vehicle and target vehicle is gathered, and obtains the speed of Current vehicle；
According to the relative speed and the speed of the Current vehicle, the speed of target vehicle is obtained.
Further, the vehicle cruise control method, in addition to：
If the distance is more than pre-determined distance, judge target vehicle is not present in the road conditions of front；
If target vehicle is not present in front road conditions, it is determined that the cruise mode of Current vehicle is cruise pattern.
Further, the speed according to the target vehicle, the step of determining the cruise mode of Current vehicle, bag
Include：
If the speed of the target vehicle is more than or equal to default highest cruise speed, it is determined that the cruise mould of Current vehicle
Formula is cruise pattern；
If the speed of the target vehicle is less than the default highest cruise speed, it is determined that the cruise mode of Current vehicle
For Car following model.
Further, it is described according to the cruise mode, the step of carrying out the cruise control of Current vehicle, including：
Determine target vehicle speed；
According to the target vehicle speed, the correction value of the accelerator open degree under target vehicle speed is determined；
According to the correction value of the accelerator open degree, the cruise control of Current vehicle is carried out.
Further, the step of determination target vehicle speed, including：
When the cruise mode is cruise pattern, it is default highest cruise speed to determine target vehicle speed；
When the cruise mode is Car following model, the speed that target vehicle speed is the target vehicle is determined.
Further, it is described according to the target vehicle speed, the step of determining the correction value of accelerator open degree under target vehicle speed,
Including：
According to the target vehicle speed, demarcation accelerator open degree is obtained；
According to target vehicle speed and the speed of Current vehicle, accelerator open degree regulated value is obtained；
According to the demarcation accelerator open degree and the accelerator open degree regulated value, the correction value of accelerator open degree is determined.
Further, it is described according to the target vehicle speed, the step of obtaining demarcation accelerator open degree, including：
According to the target vehicle speed, in default speed and accelerator open degree mapping table, search and the target carriage
The corresponding demarcation accelerator open degree of speed.
Further, it is described according to target vehicle speed and the speed of Current vehicle, the step of obtaining accelerator open degree regulated value
Including：
According to formula：Obtain accelerator open degree regulated value；
Wherein, PDL2For accelerator open degree regulated value, Δ v is the difference of target vehicle speed and the speed of Current vehicle, KpFor ratio
Coefficient, KiFor integral coefficient, KdFor differential coefficient, and Kp、KiAnd KdIt is a constant.
Further, when the cruise mode is cruise pattern, the correction value according to the accelerator open degree,
The step of carrying out the cruise control of Current vehicle, including：
According to the correction value of the accelerator open degree, the regulation of the accelerator open degree of Current vehicle is carried out.
Further, when the cruise mode is Car following model, according to the demarcation accelerator open degree and the throttle
Before aperture regulation value, the step of determining the correction value of accelerator open degree, the vehicle cruise control method, in addition to：
Obtain the relative speed and relative spacing of Current vehicle and target vehicle；
According to the relative speed and the relative spacing, accelerator open degree relative adjustment value is obtained；
Described to demarcate accelerator open degree and the accelerator open degree regulated value according to described, the step of determining accelerator open degree is specific
For：
According to the demarcation accelerator open degree, the accelerator open degree regulated value and the accelerator open degree relative adjustment value, it is determined that
Accelerator open degree.
Further, it is described according to the relative speed and the relative spacing, obtain accelerator open degree relative adjustment value
Step, including：
According to formula：PDL3=Δ d/K_d+ Δs v1/ K_v, obtains accelerator open degree relative adjustment value；
Wherein, PDL3For accelerator open degree relative adjustment value, Δ d be relative spacing with dream car away from difference, K_d is relative
Spacing proportionality coefficient, is a calibration value, Δ v1For relative speed, K_v is relative speed proportionality coefficient, is a calibration value.
Further, the dream car away from acquisition modes be：
According to formula：D=(Veh_speed/3.6) × p, obtain dream car away from；
Wherein, d is dream car away from Veh_speed is the speed of target vehicle, and p is default headway.
Further, the correction value according to the accelerator open degree, the step of carrying out the cruise control of Current vehicle, bag
Include：
If the correction value of the accelerator open degree is on the occasion of according to the correction value of the accelerator open degree, progress Current vehicle
Accelerator open degree regulation；
If the correction value of the accelerator open degree is negative value, according to the correction value of the accelerator open degree, Current vehicle is carried out
Brake pressure regulation.
Further, the correction value according to the accelerator open degree, carries out the regulation of the brake pressure of Current vehicle
Step, including：
According to the absolute value of the correction value of the accelerator open degree, the correction value of brake pressure is obtained；
According to the correction value of the brake pressure, the regulation of the brake pressure of Current vehicle is carried out.
The embodiment of the present invention also provides a kind of vehicle cruise control apparatus, including：
Acquisition module, the speed for obtaining target vehicle；
Determining module, for the speed according to the target vehicle, determines the cruise mode of Current vehicle；
Control module, for according to the cruise mode, carrying out the cruise control of Current vehicle.
The embodiment of the present invention also provides a kind of automobile, including above-mentioned vehicle cruise control apparatus.
The beneficial effects of the invention are as follows：
Such scheme, carries out cruise control, it is ensured that Current vehicle by the speed according to target vehicle to Current vehicle
With matching for target vehicle velocity so that Current vehicle can carry out the adjustment of speed according to current traffic, it is ensured that
The traffic safety of automatic driving vehicle, reduces the Probability of traffic accident.
Brief description of the drawings
Fig. 1 represents the schematic flow sheet of the vehicle cruise control method of the embodiment of the present invention；
Fig. 2 represents the overall procedure schematic diagram of the vehicle cruise control method of the embodiment of the present invention；
The specific implementation schematic diagram of control strategy when Fig. 3 represents to carry out the cruise control under Car following model；
Fig. 4 represents the module diagram of the vehicle cruise control apparatus of the embodiment of the present invention.
Embodiment
It is right below in conjunction with the accompanying drawings and the specific embodiments to make the object, technical solutions and advantages of the present invention clearer
The present invention is described in detail.
The present invention there is potential safety hazard for existing automatic Pilot, it is impossible to ensure the problem of automatic Pilot is safe there is provided
A kind of vehicle cruise control method, device and automobile.
As shown in figure 1, the vehicle cruise control method of one embodiment of the invention, including：
Step 100, the speed of target vehicle is obtained；
Step 200, according to the speed of the target vehicle, the cruise mode of Current vehicle is determined；
Step 300, according to the cruise mode, the cruise control of Current vehicle is carried out.
It should be noted that the Current vehicle refers to carrying out the vehicle of automatic Pilot, and the target vehicle
Refer to being located at the vehicle immediately ahead of Current vehicle, i.e., be located at Current vehicle in same track, and in front of Current vehicle
Vehicle.
Described cruise mode includes cruise pattern and/or Car following model, so-called cruise mould in the present embodiment
Formula refers to that Current vehicle is travelled according to predetermined speed, and so-called Car following model refers to that Current vehicle follows front vehicles row
Sail, i.e. the distance of Current vehicle and front vehicles is maintained within safe distance.
In the present embodiment, cruise control is carried out to Current vehicle by the speed according to target vehicle, it is ensured that current vehicle
Matched with target vehicle velocity so that Current vehicle can carry out the adjustment of speed according to current traffic, it is ensured that
The traffic safety of automatic driving vehicle, reduces the Probability of traffic accident.
It should be noted that the speed in order to obtain target vehicle, it is necessary first to determine to whether there is in front of Current vehicle
Target vehicle, alternatively, before the step 100, in addition to：
Step 101, collection front traffic information；
Step 102, if there is barrier in the road conditions of front, the distance of the barrier and Current vehicle is obtained；
Step 103, if the distance is less than or equal to pre-determined distance, judge there is target vehicle in the road conditions of front.
If it should also be noted that, the distance is more than pre-determined distance, judging target vehicle is not present in the road conditions of front.
It should be noted that before step 100 is realized, it is necessary first to it is determined that collection front traffic information, described herein
Front traffic information refer to being located at the traffic information in same track and immediately ahead of the Current vehicle with Current vehicle；
Judge to whether there is barrier in the road conditions of front, herein can profit if there is the distance for then obtaining barrier and Current vehicle
The measurement of barrier and distance is carried out with radar sensor or vision sensor；It is less than or equal to pre-determined distance in the distance of measurement
When, then it is assumed that there is target vehicle in the road conditions of front, be more than pre-determined distance in the distance of measurement, then it is assumed that do not deposited in the road conditions of front
In target vehicle, i.e., it is necessary to carry out the control of the speed of Current vehicle when leading vehicle distance Current vehicle is closer, and in front truck
Apart from Current vehicle farther out when, only need to be travelled according to Current vehicle speed set in advance, such a mode ensure that
The promptness and validity of speed adjustment.
Specifically, when obtaining the speed of target vehicle, the implementation taken in the present embodiment is：Gather Current vehicle
The relative speed with target vehicle, and obtain the speed of Current vehicle；According to relative speed and the Current vehicle
Speed, obtain target vehicle speed.
It should be noted that relative speed can be obtained according to radar sensor or vision sensor measurement, and current vehicle
Speed can be in vehicle wheel speed sensors measurement obtain, relative speed is added with the speed of Current vehicle just
The speed of target vehicle is arrived.The mode of such a speed for obtaining target vehicle, realizes relatively simple, and can guarantee that before acquisition
The speed of square vehicle is more accurate.
It should be noted that because that can only determine that vehicle is under a kind of cruise mode a moment, specifically, determining to patrol
The mode of model plane formula is：
When target vehicle is not present in front road conditions, it is determined that the cruise mode of Current vehicle is cruise pattern；
If the speed of the target vehicle is more than or equal to default highest cruise speed, it is determined that the cruise mould of Current vehicle
Formula is cruise pattern；
If the speed of the target vehicle is less than the default highest cruise speed, it is determined that the cruise mode of Current vehicle
For Car following model.
It is described in detail separately below to carrying out cruise control to vehicle under cruise pattern and Car following model.
When cruise mode is cruise pattern, the implementation of step 300 is：
Step 310, target vehicle speed is determined；
Step 320, according to the target vehicle speed, the correction value of the accelerator open degree under target vehicle speed is determined；
Step 330, according to the correction value of the accelerator open degree, the cruise control of Current vehicle is carried out.
It should be noted that under cruise pattern, the target vehicle speed is default highest cruise speed, the default highest
When speed of cruising is that vehicle carries out automatic Pilot, the max speed that can be reached.
Alternatively, step 320 is when implementing, including：
According to the target vehicle speed, demarcation accelerator open degree is obtained；
Specifically, the acquisition modes of the demarcation accelerator open degree are：According to target vehicle speed, in default speed and accelerator open degree
In mapping table, demarcation accelerator open degree PDL corresponding with the target vehicle speed is searched2。
It should be noted that the speed is that experimenter measures and generated according to experimental result with accelerator open degree mapping table
's.The specific implementation of experiment is：Carried out on normally attachment road surface, be tested main car and be maintained at nominal state (principal security
Tire pressure is in normal range (NR)).The stable speed of operation that main Che Suoneng under different accelerator open degrees reaches is measured successively.Test repeatedly
2 times and record data, wherein the 2nd time reverse with the 1st time, to balance the influence of wind speed, the gradient to speed, averaged, system
Into two-dimensional table, speed and accelerator open degree mapping table V_table are set up.
According to target vehicle speed and the speed of Current vehicle, accelerator open degree regulated value is obtained；
It should be noted that because of the influence of road grade, wind speed, vehicle condition etc., if keep the accelerator open degree constant, speed
Fluctuation occurs, therefore introduces PID (proportional-integral-differential) controls, to preset the speed of highest cruise speed and Current vehicle
Difference DELTA v be used as input, obtain accelerator open degree regulated value PDL2, main implementation is：According to formula：Obtain accelerator open degree regulated value；
Wherein, PDL2For accelerator open degree regulated value, Δ v is the difference of target vehicle speed and the speed of Current vehicle, KpFor ratio
Coefficient, KiFor integral coefficient, KdFor differential coefficient, and Kp、KiAnd KdIt is a constant.
It should be noted that when the process of above-mentioned acquisition demarcation accelerator open degree and accelerator open degree regulated value does not have strict
Between order, can be at the same carry out process.
According to the demarcation accelerator open degree and the accelerator open degree regulated value, the correction value of accelerator open degree is determined.
After demarcation accelerator open degree and accelerator open degree regulated value is respectively obtained, demarcation accelerator open degree and accelerator open degree are adjusted
Value is added, and just can obtain the correction value of last accelerator open degree, because in cruise pattern, vehicle can be in always
The state of oiling, therefore, in this mode, only need to be according to obtained accelerator open degree correction value, carry out accelerator open degree tune
Section can be, it is necessary to which explanation, the adjustable range of the accelerator open degree be [0%, 100%].
When cruise mode is Car following model, the implementation of step 300 is：
Step 340, target vehicle speed is determined；
Step 350, according to the target vehicle speed, the correction value of the accelerator open degree under target vehicle speed is determined；
It should be noted that in this mode, the target vehicle speed is the speed of target vehicle, the speed of the target vehicle
Acquisition modes be illustrated above, will not be repeated here.
Step 360, according to the correction value of the accelerator open degree, the cruise control of Current vehicle is carried out.
Alternatively, step 340 is when implementing, including：
According to the target vehicle speed, demarcation accelerator open degree is obtained；
It should be noted that current vehicle speed (speed of i.e. above-mentioned target vehicle) is less than the highest cruise car of setting
Speed, should control Current vehicle to follow front truck to travel with certain headway, according to the speed of target vehicle, inquiry speed and oil
Door aperture mapping table V_table, just can obtain the demarcation accelerator open degree under this Car following model.
According to target vehicle speed and the speed of Current vehicle, accelerator open degree regulated value is obtained；
It should be noted that obtaining the mode of accelerator open degree regulated value under this Car following model with being under cruise pattern
The mode for obtaining accelerator open degree regulated value is identical, will not be repeated here.
Obtain the relative speed and relative spacing of Current vehicle and target vehicle；
According to the relative speed and the relative spacing, accelerator open degree relative adjustment value is obtained；
It should be noted that under Car following model, for the purpose of keeping the speed of Current vehicle consistent with front truck speed, but it is preceding
The change of car speed is different because of driver, it may appear that different degrees of acceleration or deceleration process, only using relative speed Δ v as defeated
Enter, the accelerator open degree regulated value PDL of generation2Quick response front truck velocity variations are unable to, therefore introduce relative spacing proportionality coefficient
K_d, with respect to speed Proportional coefficient K _ v.Make accelerator open degree relative adjustment value PDL3=Δ d/K_d+ Δs v1/ K_v, i.e., when relative car
Away from dream car away from difference (Δ d), relative speed (Δ v1) value it is bigger when, accelerator open degree relative adjustment value PDL3It is bigger, with
Reach the purpose for keeping up with front truck as early as possible and keeping preferable following distance.K_d span is generally [0.6,1.5], and K_v's takes
Value scope is generally [0.2,0.8].Wherein, by K_d, the combination of K_v difference values can produce different control effects,
The smaller velocity variations response then to front truck of K_d, K_v value is faster, while value is too small, the comfortableness of occupant can also be reduced.
Therefore, several modes can be set by K_d, K_v different values, such as comfortable, normal, motion adapts to different occupants and practised
It is used.
It should be noted that above-mentioned dream car away from acquisition modes be：
According to formula：D=(Veh_speed/3.6) × p, obtain dream car away from；
Wherein, d is dream car away from Veh_speed is the speed of target vehicle, and p is default headway.
Because with the change of front truck speed, safe following distance should also change therewith, under relatively low speed (20km/h with
Under, in the case of traffic congestion) to keep up with wagon flow, it should keep less with following distance, set headway as 1.2s, preferable following distance
(i.e. above-mentioned dream car away from) d=(Veh_speed/3.6) × 1.2；Under higher speed (100km/h or so), to ensure peace
Entirely with following distance, it is to avoid danger occurs in front truck brake hard, should keep larger with following distance, set headway as 1.8s,
Then ideal following distance d=(Veh_speed/3.6) × 1.8.I.e. speed is higher, accordingly increases with following distance, according to speed model
Enclose [0km/h, 100km/h], two-dimensional table is made in preferable headway [1.2s, 1.8s], sets up speed corresponding with headway
Relation table T_table, can try to achieve the preferable following distance under different speeds.When front truck speed tends to 0, (starting is braked to stopping
Car), to avoid the situation that 0 is also tended to following distance, preferable following distance minimum threshold is set as 3m.
It should be noted that above-mentioned acquisition demarcation accelerator open degree, accelerator open degree regulated value and accelerator open degree relative adjustment value
Process do not have strict time sequencing, can be at the same carry out process.
According to the demarcation accelerator open degree, the accelerator open degree regulated value and the accelerator open degree relative adjustment value, it is determined that
The correction value of accelerator open degree.
It should be noted that from the foregoing, the correction value of the accelerator open degree under this Car following model should be demarcation throttle
Aperture, accelerator open degree regulated value are added summation with accelerator open degree relative adjustment value and obtained.
It should be noted that when stronger braking occurs in current vehicle, can diminish rapidly with relative speed with respect to spacing, Δ d
With Δ v1The situation of negative value occurs, guarantee safety wanting with following distance can not be met by now only relying on reduction accelerator open degree
Ask, it is necessary to moderately be braked.
Therefore the specific implementation under Car following model during the cruise control of progress Current vehicle is：
If the correction value of the accelerator open degree is on the occasion of according to the correction value of the accelerator open degree, progress Current vehicle
Accelerator open degree regulation；
If the correction value of the accelerator open degree is negative value, according to the correction value of the accelerator open degree, Current vehicle is carried out
Brake pressure regulation.
Specifically, it is according to the implementation of the regulation of accelerator open degree progress brake pressure：
According to the absolute value of the correction value of the accelerator open degree, the correction value of brake pressure is obtained；
According to the correction value of the brake pressure, the regulation of the brake pressure of Current vehicle is carried out.
It should be noted that when carrying out brake pressure regulation, because the correction value of accelerator open degree is negative value, by accelerator open degree
Correction value take absolute value, the absolute value is bigger, and brake pressure is bigger, in experimentation, it is considered to occupant comfort, will brake
Pressure limit is controlled at [0Mpa, 2Mpa], and takes brakes maximum brake pressure to be 2Mpa.
It should be noted that as shown in Fig. 2 when realizing the vehicle cruise control method, mainly using perception end (example
Radar sensor or vision sensor as stated above) relative information of Current vehicle and target vehicle is obtained, constitute and perceive
End signal；Meanwhile, user can carry out parameter setting in advance according to the driving situation of Current vehicle；Vehicle is in the process of moving
Vehicle self information can be also obtained in real time；Adaptive cruise (ACC) controller is according to perception end signal, the parameter setting of user
The regulation of accelerator open degree or brake pressure is carried out with vehicle self information.
The control strategy of ACC controller is mainly：According to relative speed and the speed of Current vehicle, Current vehicle is judged
Cruise mode, then carries out the regulation of accelerator open degree or brake pressure under different cruise modes respectively.
As shown in figure 3, the concrete mode of control strategy when carrying out the cruise control under Car following model is：According to current vehicle
Speed is added the speed for obtaining target vehicle with relative speed, tabled look-up to obtain demarcating throttle according to the speed of target vehicle and opened
Spend (PDL1)；PID rules are utilized according to relative speed, accelerator open degree regulated value (PDL is obtained2)；According to relative speed, relative car
Away from dream car away from mathematic interpolation obtain accelerator open degree relative adjustment value (PDL3), by PDL1、PDL2Be added PDL3Addition is asked
With, the regulation of accelerator open degree is added and carried out when more than zero in three, three be added and it is minus when carry out
The regulation of brake pressure.
By setting up speed and accelerator open degree mapping table V_table, the method by tabling look-up in the embodiment of the present invention
The adjustable range of accelerator open degree can be determined faster, and the speed response degree of accuracy is high；Set up speed and headway corresponding relation
Table T_table, compared to the control method of fixed headway, can optimize under different speeds with car effect, in low speed work
Further following distance under condition, adapts to the wagon flow under congestion operating mode；Following distance is widened under high speed operating mode, it is ensured that safety is with car
Spacing；Under Car following model, introduce relative spacing Proportional coefficient K _ d, relative speed Proportional coefficient K _ v, according to Current vehicle and
Front truck determines accelerator open degree relative adjustment value PDL with respect to spacing, the departure degree of relative speed3Regulating degree, realize current
Vehicle is more rapid to the response changed with car target velocity, on the premise of ensureing safety with following distance, preferably adapts to hand over
Logical situation；Meanwhile, the combination of K_d, K_v value different by setting sets different Car following models, such as comfortable, normal, motion
It is accustomed to Deng different occupants are adapted to.
The embodiment of the present invention, carries out cruise control, it is ensured that current by the speed according to target vehicle to Current vehicle
The matching of vehicle-to-target car speed so that Current vehicle can carry out the adjustment of speed according to current traffic, protect
The traffic safety of automatic driving vehicle has been demonstrate,proved, the Probability of traffic accident is reduced.
As shown in figure 4, the embodiment of the present invention also provides a kind of vehicle cruise control apparatus, including：
Acquisition module 10, the speed for obtaining target vehicle；
Determining module 20, for the speed according to the target vehicle, determines the cruise mode of Current vehicle；
Control module 30, for according to the cruise mode, carrying out the cruise control of Current vehicle.
Alternatively, the vehicle cruise control apparatus also includes：
Acquisition module, for gathering front traffic information；
Apart from acquisition module, if for there is barrier in the road conditions of front, obtaining the barrier and Current vehicle
Distance；
First judge module, if being less than or equal to pre-determined distance for the distance, judges there is mesh in the road conditions of front
Mark vehicle.
Specifically, the acquisition module 10 is used for：
The relative speed of Current vehicle and target vehicle is gathered, and obtains the speed of Current vehicle；
According to the relative speed and the speed of the Current vehicle, the speed of target vehicle is obtained.
Alternatively, the vehicle cruise control apparatus, in addition to：
Second judge module, if being more than pre-determined distance for the distance, judges target carriage is not present in the road conditions of front
；
Mode decision module, if target vehicle is not present for front road conditions, it is determined that the cruise mode of Current vehicle is
Cruise pattern.
Alternatively, the determining module 20 is used for：
If the speed of the target vehicle is more than or equal to default highest cruise speed, it is determined that the cruise mould of Current vehicle
Formula is cruise pattern；
If the speed of the target vehicle is less than the default highest cruise speed, it is determined that the cruise mode of Current vehicle
For Car following model.
Specifically, the control module 30 includes：
First determination sub-module, determines target vehicle speed；
Second determination sub-module, for according to the target vehicle speed, determining the correction value of the accelerator open degree under target vehicle speed；
Control submodule, for the correction value according to the accelerator open degree, carries out the cruise control of Current vehicle.
Alternatively, first determination sub-module is used for：
When the cruise mode is cruise pattern, it is default highest cruise speed to determine target vehicle speed；
When the cruise mode is Car following model, the speed that target vehicle speed is the target vehicle is determined.
Alternatively, second determination sub-module includes：
First acquisition unit, for according to the target vehicle speed, obtaining demarcation accelerator open degree；
Second acquisition unit, for the speed according to target vehicle speed and Current vehicle, obtains accelerator open degree regulated value；
Determining unit, for according to the demarcation accelerator open degree and the accelerator open degree regulated value, determining accelerator open degree
Correction value.
Specifically, the first acquisition unit is used for：
According to the target vehicle speed, in default speed and accelerator open degree mapping table, search and the target carriage
The corresponding demarcation accelerator open degree of speed.
Specifically, the second acquisition unit is used for：
According to formula：Obtain accelerator open degree regulated value；
Wherein, PDL2For accelerator open degree regulated value, Δ v is the difference of target vehicle speed and the speed of Current vehicle, KpFor ratio
Coefficient, KiFor integral coefficient, KdFor differential coefficient, and Kp、KiAnd KdIt is a constant.
Specifically, when the cruise mode is cruise pattern, the control submodule is used for：
According to the correction value of the accelerator open degree, the regulation of the accelerator open degree of Current vehicle is carried out.
Alternatively, when the cruise mode is Car following model, second determination sub-module, in addition to：
3rd acquiring unit, relative speed and relative spacing for obtaining Current vehicle and target vehicle；
4th acquiring unit, for according to the relative speed and the relative spacing, obtaining accelerator open degree relative adjustment
Value；
Further, the determining unit is used for：
According to the demarcation accelerator open degree, the accelerator open degree regulated value and the accelerator open degree relative adjustment value, it is determined that
Accelerator open degree.
Specifically, the 4th acquiring unit is used for：
According to formula：PDL3=Δ d/K_d+ Δs v1/ K_v, obtains accelerator open degree relative adjustment value；
Wherein, PDL3For accelerator open degree relative adjustment value, Δ d be relative spacing with dream car away from difference, K_d is relative
Spacing proportionality coefficient, is a calibration value, Δ v1For relative speed, K_v is relative speed proportionality coefficient, is a calibration value.
Alternatively, the dream car away from acquisition modes be：
According to formula：D=(Veh_speed/3.6) × p, obtain dream car away from；
Wherein, d is dream car away from Veh_speed is the speed of target vehicle, and p is default headway.
Specifically, the control submodule includes：
First adjustment unit, if the correction value for the accelerator open degree is on the occasion of according to repairing for the accelerator open degree
On the occasion of the regulation of the accelerator open degree of progress Current vehicle；
Second adjustment unit, if the correction value for the accelerator open degree is negative value, according to repairing for the accelerator open degree
On the occasion of the regulation of the brake pressure of progress Current vehicle.
Specifically, second adjustment unit is used for：
According to the absolute value of the correction value of the accelerator open degree, the correction value of brake pressure is obtained；
According to the correction value of the brake pressure, the regulation of the brake pressure of Current vehicle is carried out.
It should be noted that the device embodiment is the device corresponding with the above method, all realizations of the above method
Mode is applied to the device embodiment, can also reach same technique effect.
The embodiment of the present invention also provides a kind of automobile, including above-mentioned vehicle cruise control apparatus.
It should be noted that being provided with the vehicle cruise control apparatus, it is ensured that the traffic safety of automatic driving vehicle, drop
The low Probability of traffic accident.
Above-described is the preferred embodiment of the present invention, it should be pointed out that come for the ordinary person of the art
Say, some improvements and modifications can also be made under the premise of principle of the present invention is not departed from, and these improvements and modifications also exist
In protection scope of the present invention.
Claims (18)
1. a kind of vehicle cruise control method, it is characterised in that including：
Obtain the speed of target vehicle；
According to the speed of the target vehicle, the cruise mode of Current vehicle is determined；
According to the cruise mode, the cruise control of Current vehicle is carried out.
2. vehicle cruise control method according to claim 1, it is characterised in that in the speed of the acquisition target vehicle
The step of before, in addition to：
Collection front traffic information；
If there is barrier in the road conditions of front, the distance of the barrier and Current vehicle is obtained；
If the distance is less than or equal to pre-determined distance, judge there is target vehicle in the road conditions of front.
3. vehicle cruise control method according to claim 1 or 2, it is characterised in that the car of the acquisition target vehicle
The step of speed, including：
The relative speed of Current vehicle and target vehicle is gathered, and obtains the speed of Current vehicle；
According to the relative speed and the speed of the Current vehicle, the speed of target vehicle is obtained.
4. vehicle cruise control method according to claim 2, it is characterised in that also include：
If the distance is more than pre-determined distance, judge target vehicle is not present in the road conditions of front；
If target vehicle is not present in front road conditions, it is determined that the cruise mode of Current vehicle is cruise pattern.
5. vehicle cruise control method according to claim 1, it is characterised in that the car according to the target vehicle
Speed, the step of determining the cruise mode of Current vehicle, including：
If the speed of the target vehicle is more than or equal to default highest cruise speed, it is determined that the cruise mode of Current vehicle is
Cruise pattern；
If the speed of the target vehicle is less than the default highest cruise speed, it is determined that the cruise mode of Current vehicle be with
Car pattern.
6. vehicle cruise control method according to claim 5, it is characterised in that described according to the cruise mode, enters
The step of cruise control of trade vehicle in front, including：
Determine target vehicle speed；
According to the target vehicle speed, the correction value of the accelerator open degree under target vehicle speed is determined；
According to the correction value of the accelerator open degree, the cruise control of Current vehicle is carried out.
7. vehicle cruise control method according to claim 6, it is characterised in that the step of the determination target vehicle speed,
Including：
When the cruise mode is cruise pattern, it is default highest cruise speed to determine target vehicle speed；
When the cruise mode is Car following model, the speed that target vehicle speed is the target vehicle is determined.
8. vehicle cruise control method according to claim 6, it is characterised in that described according to the target vehicle speed, really
The step of correction value of accelerator open degree under the speed that sets the goal, including：
According to the target vehicle speed, demarcation accelerator open degree is obtained；
According to target vehicle speed and the speed of Current vehicle, accelerator open degree regulated value is obtained；
According to the demarcation accelerator open degree and the accelerator open degree regulated value, the correction value of accelerator open degree is determined.
9. vehicle cruise control method according to claim 8, it is characterised in that described according to the target vehicle speed, is obtained
The step of taking demarcation accelerator open degree, including：
According to the target vehicle speed, in default speed and accelerator open degree mapping table, search and the target vehicle speed pair
The demarcation accelerator open degree answered.
10. vehicle cruise control method according to claim 8, it is characterised in that described according to target vehicle speed and to work as
The speed of vehicle in front, the step of obtaining accelerator open degree regulated value includes：
According to formula：Obtain accelerator open degree regulated value；
Wherein, PDL2For accelerator open degree regulated value, Δ v is the difference of target vehicle speed and the speed of Current vehicle, KpFor ratio system
Number, KiFor integral coefficient, KdFor differential coefficient, and Kp、KiAnd KdIt is a constant.
11. vehicle cruise control method according to claim 8, it is characterised in that when the cruise mode patrols for constant speed
During model plane formula, the correction value according to the accelerator open degree, the step of carrying out the cruise control of Current vehicle, including：
According to the correction value of the accelerator open degree, the regulation of the accelerator open degree of Current vehicle is carried out.
12. vehicle cruise control method according to claim 8, it is characterised in that when the cruise mode is with car mould
During formula, according to the demarcation accelerator open degree and accelerator open degree regulated value, the step of determining the correction value of accelerator open degree it
Before, the vehicle cruise control method, in addition to：
Obtain the relative speed and relative spacing of Current vehicle and target vehicle；
According to the relative speed and the relative spacing, accelerator open degree relative adjustment value is obtained；
Described to demarcate accelerator open degree and the accelerator open degree regulated value according to described, the step of determining accelerator open degree is specially：
According to the demarcation accelerator open degree, the accelerator open degree regulated value and the accelerator open degree relative adjustment value, throttle is determined
Aperture.
13. vehicle cruise control method according to claim 12, it is characterised in that it is described according to the relative speed and
The relative spacing, the step of obtaining accelerator open degree relative adjustment value, including：
According to formula：PDL3=Δ d/K_d+ Δs v1/ K_v, obtains accelerator open degree relative adjustment value；
Wherein, PDL3For accelerator open degree relative adjustment value, Δ d be relative spacing with dream car away from difference, K_d is relative spacing
Proportionality coefficient, is a calibration value, Δ v1For relative speed, K_v is relative speed proportionality coefficient, is a calibration value.
14. vehicle cruise control method according to claim 13, it is characterised in that the dream car away from acquisition modes
For：
According to formula：D=(Veh_speed/3.6) × p, obtain dream car away from；
Wherein, d is dream car away from Veh_speed is the speed of target vehicle, and p is default headway.
15. vehicle cruise control method according to claim 12, it is characterised in that described according to the accelerator open degree
Correction value, the step of carrying out the cruise control of Current vehicle, including：
If the correction value of the accelerator open degree is on the occasion of according to the correction value of the accelerator open degree, the oil of progress Current vehicle
The regulation of door aperture；
If the correction value of the accelerator open degree is negative value, according to the correction value of the accelerator open degree, the system of Current vehicle is carried out
The regulation of dynamic pressure.
16. vehicle cruise control method according to claim 15, it is characterised in that described according to the accelerator open degree
The step of correction value, regulation for the brake pressure for carrying out Current vehicle, including：
According to the absolute value of the correction value of the accelerator open degree, the correction value of brake pressure is obtained；
According to the correction value of the brake pressure, the regulation of the brake pressure of Current vehicle is carried out.
17. a kind of vehicle cruise control apparatus, it is characterised in that including：
Acquisition module, the speed for obtaining target vehicle；
Determining module, for the speed according to the target vehicle, determines the cruise mode of Current vehicle；
Control module, for according to the cruise mode, carrying out the cruise control of Current vehicle.
18. a kind of automobile, it is characterised in that including vehicle cruise control apparatus as claimed in claim 17.
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| CN108773375A (en) * | 2018-04-23 | 2018-11-09 | 北京长城华冠汽车科技股份有限公司 | Constant speed cruising method, constant speed cruising system and the vehicle with constant speed cruising system |
| CN109624978A (en) * | 2018-12-28 | 2019-04-16 | 北汽福田汽车股份有限公司 | Vehicle and its adaptive cruise method and apparatus |
| CN109866770A (en) * | 2019-02-28 | 2019-06-11 | 重庆长安汽车股份有限公司 | A kind of adaptive cruise control method, apparatus, system and automobile |
| CN109991976A (en) * | 2019-03-01 | 2019-07-09 | 江苏理工学院 | A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle |
| CN110015295A (en) * | 2018-01-10 | 2019-07-16 | 宝沃汽车（中国）有限公司 | Cruise torque control method, device and vehicle |
| CN110733491A (en) * | 2019-10-30 | 2020-01-31 | 东软睿驰汽车技术（沈阳）有限公司 | vehicle speed control method and device and vehicle |
| CN110843777A (en) * | 2019-11-27 | 2020-02-28 | 新大洲本田摩托(苏州)有限公司 | Electric vehicle control method and device and electric vehicle |
| CN111703435A (en) * | 2019-06-21 | 2020-09-25 | 文远知行有限公司 | Vehicle speed control method, device, equipment and medium in automatic driving mode |
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| CN113715818A (en) * | 2021-08-30 | 2021-11-30 | 岚图汽车科技有限公司 | Navigation-based adaptive cruise method and system |
| CN114763140A (en) * | 2022-02-21 | 2022-07-19 | 广州汽车集团股份有限公司 | Method, device and equipment for adaptive cruise control and storage medium |
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| CN113715818A (en) * | 2021-08-30 | 2021-11-30 | 岚图汽车科技有限公司 | Navigation-based adaptive cruise method and system |
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