CN107132842A - A kind of ACC decision-making techniques and system based on operating mode adaptive strategy - Google Patents
A kind of ACC decision-making techniques and system based on operating mode adaptive strategy Download PDFInfo
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- CN107132842A CN107132842A CN201710329800.1A CN201710329800A CN107132842A CN 107132842 A CN107132842 A CN 107132842A CN 201710329800 A CN201710329800 A CN 201710329800A CN 107132842 A CN107132842 A CN 107132842A
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- 239000000446 fuel Substances 0.000 abstract description 6
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of ACC decision-making techniques and system based on operating mode adaptive strategy, this method includes：Obtain the work information of front truck；According to work information, the corresponding ACC mode of operations of selection work information；Wherein, the working field of the corresponding ACC controller of each ACC mode of operations is different；Front truck operating mode is divided into multiple typical conditions by the present invention, for such as traceability in cost function under every kind of operating mode, it is aviation fuel, comfortableness, the otherness of the constraint space of each performance indications such as security, and combine the skilled daily driving custom for driving colony, design the different ACC controller of working field under different ACC mode of operations, by obtaining the work information of front truck during following, to recognizing for front truck operating mode, ACC controller can switch seamlessly to corresponding mode of operation, enhance adaptability of the ACC controller to complicated road traffic environment, so as to improve the Experience Degree of user.
Description
Technical field
The present invention relates to semi-automatic driving field, more particularly to a kind of ACC decision-making techniques based on operating mode adaptive strategy and
System.
Background technology
With the development of modern society's science and technology, people are increasing for the use demand of vehicle, and this allows for vehicle
Each side's surface technology has obtained extensive development.ACC (Adaptive Cruise Control, adaptive learning algorithms) is a kind of
Intelligentized automatic control system, it is developed on the basis of the cruise control technology probably already existed.In vehicle row
During sailing, the spacing sensor (radar) installed in front part of vehicle persistently scans vehicle road ahead, while wheel speed sensors
Gather GES.When too small with the distance between front truck, ACC control units can by with anti-blocking brake system, hair
Motivation control system coordination, makes wheel suitably brake, and declines the power output of engine, so that vehicle and front car
Safe distance is remained, reach the effect of semi-automatic driving.
In the prior art, as a kind of advanced ADAS (Advanced Driver Assistant System, it is senior to drive
Sail accessory system), ACC adaptive learning algorithms are intended to alleviate driving fatigue, lifting ride comfort and security.But for
Human oriented design problem in ACC adaptive learning algorithms in ACC decision processes, in the prior art often ACC system often only
It is to be controlled by a larger working field of ACC controller, that is, ACC system only exists a kind of ACC mode of operations,
According to different operating mode situation corresponding ACC mode of operations can not be selected to be controlled, it is impossible to meet it is skilled drive colony with
Car is accustomed to.Therefore, how each property such as traceability, aviation fuel, comfortableness, security in cost function under every kind of operating mode are passed through
The otherness of the constraint space of energy index, and the skilled daily driving custom for driving colony is combined, design different ACC Working moulds
The different ACC controller of working field under formula so that corresponding ACC mode of operations are selected under different operating modes, using more
The working field of ACC controller for being adapted to the operating mode is controlled, and improves the Experience Degree of user, is urgent problem now.
The content of the invention
It is an object of the invention to provide a kind of ACC decision-making techniques and system based on operating mode adaptive strategy, with by ACC
The change of the working field of controller, designs a variety of ACC mode of operations so that by being more suitable for the work under different operating modes
The ACC mode of operations of condition are controlled, and improve the Experience Degree of user.
In order to solve the above technical problems, the present invention provides a kind of ACC decision-making techniques based on operating mode adaptive strategy, including：
Obtain the work information of front truck；
According to the work information, corresponding ACC mode of operations are selected；Wherein, each ACC mode of operations are corresponding
The working field of ACC controller is different.
Optionally, the working field of the corresponding ACC controller of each described ACC mode of operations is different, including：
Each the working field and/or slackness of the corresponding ACC controller of the ACC mode of operations are different.
Optionally, the working field and/or slackness of the corresponding ACC controller of each described ACC mode of operations are different,
Including：
The working field and/or slackness of the corresponding ACC controller of each ACC mode of operations and/or performance indications
Weighted.
Optionally, the work information for obtaining front truck, including：
Obtain the relative data between this car and the front truck；Wherein, the relative data includes relative distance data and phase
To speed data；
The relative data is handled, the work information is obtained.
Optionally, it is described the relative data is handled before, in addition to：
The relative data is pre-processed by Kalman filter.
Optionally, the relative data obtained between this car and the front truck, including：
Obtain the relative data in real time by millimetre-wave radar.
Optionally, the work information is specially：The anxious accelerating mode of stable state following condition, transient state, the anxious decelerating mode of transient state
Or combination following condition.
In addition, present invention also offers a kind of ACC decision systems based on operating mode adaptive strategy, including：
Condition module, the work information for obtaining front truck；
Selecting module, for according to the work information, selecting corresponding ACC mode of operations；Wherein, each ACC
The working field of the corresponding ACC controller of mode of operation is different.
Optionally, the condition module, including：
Acquisition submodule, for obtaining the relative data between this car and the front truck；Wherein, the relative data includes phase
Data of adjusting the distance and relative velocity data；
Operating mode submodule, for handling the relative data, obtains the work information.
Optionally, the condition module, in addition to：
Submodule is pre-processed, for being pre-processed by Kalman filter to the relative data
A kind of ACC decision-making techniques based on operating mode adaptive strategy provided by the present invention, including：Obtain work information；Root
According to the work information, corresponding ACC mode of operations are selected；Wherein, the corresponding ACC controller of each ACC mode of operations
Working field it is different；
It can be seen that,；The present invention front truck operating mode is divided into multiple typical conditions, in cost function under every kind of operating mode such as
The otherness of the constraint space of each performance indications such as traceability, aviation fuel, comfortableness, security, and combine skilled driving colony
Daily driving custom, design the different ACC controller of working field under different ACC mode of operations, pass through during following
The work information of front truck is obtained, to recognizing for front truck operating mode, ACC controller can switch seamlessly to corresponding Working mould
Formula, enhances adaptability of the ACC controller to complicated road traffic environment, so as to improve the Experience Degree of user.In addition, this hair
It is bright to additionally provide a kind of ACC decision systems based on operating mode adaptive strategy, equally with above-mentioned beneficial effect.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
A kind of flow chart for ACC decision-making techniques based on operating mode adaptive strategy that Fig. 1 is provided by the embodiment of the present invention；
A kind of control model for ACC decision-making techniques based on operating mode adaptive strategy that Fig. 2 is provided by the embodiment of the present invention
Working field schematic diagram；
The flow chart for another ACC decision-making techniques based on operating mode adaptive strategy that Fig. 3 is provided by the embodiment of the present invention；
A kind of structure chart for ACC decision systems based on operating mode adaptive strategy that Fig. 4 is provided by the embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It refer to Fig. 1 and Fig. 2, a kind of ACC decision-makings based on operating mode adaptive strategy that Fig. 1 is provided by the embodiment of the present invention
The flow chart of method；A kind of control for ACC decision-making techniques based on operating mode adaptive strategy that Fig. 2 is provided by the embodiment of the present invention
The schematic diagram of the working field of pattern.This method can include：
Step 101：Obtain the work information of front truck.
Wherein, this car that designer can pre-set in ACC system during with car residing for front truck as steady
The various workings such as the anxious accelerating mode of state following condition, transient state, the anxious decelerating mode of transient state and combination following condition.Work information can be with
The information of the operating mode residing for front truck determined for ACC system, such as by obtaining the relative data between this car and front truck, to relative number
According to being handled, the work information of front truck is obtained, that is, obtains the operating mode for the front truck that this car is followed.
It is understood that for the species of work information, can be relative with the various working that designer pre-sets
Should.The present embodiment does not do any limitation to this.Can be by obtaining this car with before for the specific acquisition modes of work information
The relative data in workshop, then the work information for obtaining front truck is handled relative data progress, it would however also be possible to employ other modes are obtained.
As long as the work information of front truck can be obtained, for the specific acquisition modes of work information, the present embodiment does not do any limitation.
It should be noted that the work information obtained can be the work information of front truck, so that this car can be according to front truck
Work information select corresponding ACC mode of operations；It can also be the work information of this car；Can also be for Ben Che and front truck each
Work information, such as according to Ben Che and the work information of front truck, select the corresponding ACC mode of operations of this car.The present embodiment is to this
Any limitation is not done.
Step 102：According to work information, corresponding ACC mode of operations are selected；Wherein, each ACC mode of operations are corresponding
The working field of ACC controller is different.
Wherein, this corresponding with every kind of operating mode a kind of car that ACC mode of operations can pre-set for designer with
The mode of operation of car, such as stable state following condition, the anxious accelerating mode of transient state, the anxious decelerating mode of transient state and combination following condition,
ACC mode of operations can suddenly accelerate the anxious deceleration mode of pattern, transient state and combination follow the mode for stable state follow the mode, transient state.This
Embodiment does not do any limitation to this.
It should be noted that each the corresponding ACC controller of ACC mode of operations can be only that working field is different.Controlled with ACC
Exemplified by device processed is the ACC system of cost function, it can reach and change only by the constraint space for the constraints for changing cost function
Become the purpose of the working field of ACC controller.For the set-up mode of the working field of ACC controller, can by designer according to
Practical scene and user's request are voluntarily set, and the present embodiment is unrestricted to this.
It is understood that each ACC mode of operations can correspond to the working field of one or more ACC controllers, it is such as steady
State follow the mode, transient state suddenly accelerate pattern and the anxious deceleration mode of transient state each to correspond to a kind of different works of ACC controller
Make domain, and combine the working field that follow the mode can correspond to the ACC controller of above-mentioned three kinds of ACC mode of operations, to pass through combination
The use of follow the mode reaches the purpose for reducing the switching of ACC mode of operations.The present embodiment is unrestricted to this.
It should be noted that each the corresponding ACC controller of ACC mode of operations can be that working field is different, such as cost
The constraint space of the constraints of function is different；Can also be that working field and/or slackness are different, the constraint bar of such as cost function
The constraint space and/or slackness of part are different；Can also for working field and/or slackness and/or performance indications weighted,
Such as the constraint space and/or the weighted of slackness and/or each performance indications of the constraints of cost function, the present embodiment pair
This is unrestricted.
As shown in Fig. 2 the working field of ACC controller can be R during normal driving.0 when can represent normal driving in figure
The working field of ACC controller, 1 can represent working field of the ACC mode of operations as ACC controller under stable state follow the mode, and 2 can be with
Represent working field of the ACC mode of operations as ACC controller under the anxious acceleration pattern of transient state, 3 can to represent ACC mode of operations be transient state
The working field of ACC controller under anxious deceleration mode., can be with by the performance indications strengthened under each operating mode are different from constraint space
By adjustment such as the performance indications of dynamic tracing performance indications, fuel-economy performance index and ride comfort energy index etc
Weight, the constraint space (working field) of the constraints of cost function and slackness, formulate each each self-corresponding ACC works of operating mode
The cost function (control model) of operation mode, to meet being accustomed to car for skilled driving colony, and then improves volume production ACC use
Rate and acceptance problem
Specifically, so that ACC controller is the ACC system of cost function as an example, due on the premise of traffic safety is ensured,
ACC needs to be a comfort system in itself, therefore can pass through in decision-making level's design in the method that the present embodiment is provided
The consideration of comfort index is to improve the utilization rate of driver and crew.Because frequent acceleration, deceleration can bring the machinery of auto parts and components
Abrasion, shortens the service life of parts, can also reduce ride comfort and fuel economy；It is expected that spacing error delta d is too fast
Convergence can produce larger overshoot, especially may result in the phenomenon that knocks into the back under speed operation；To the reasonable of Δ d absolute values
Constraint can both ensure, with car security, can also avoid the frequent incision of neighboring trace vehicle.Further, with operating mode urgency level
Increase, the constraint to k broadens, i.e., the requirement reduction to comfortableness and economy, and to expecting spacing error delta d and relative speed
Δ v constraint narrows, i.e., the requirement to security is improved.
In the present embodiment, front truck operating mode is divided into multiple typical conditions by the embodiment of the present invention, for every kind of operating mode lower generation
The otherness of the constraint space of each performance indications such as traceability, aviation fuel, comfortableness, security in valency function, and combine
The skilled daily driving custom for driving colony, designs the different ACC controller of working field under different ACC mode of operations, with
By obtaining the work information of front truck during, to recognizing for front truck operating mode, ACC controller can switch seamlessly to phase
The mode of operation answered, and then the optimum control amount for seeking cost function under corresponding operating mode by the method for quadratic programming controlled
System, enhances adaptability of the ACC controller to complicated road traffic environment, so as to improve the Experience Degree of user.
It refer to Fig. 3, another ACC decision-making parties based on operating mode adaptive strategy that Fig. 3 is provided by the embodiment of the present invention
The flow chart of method.This method can include：
Step 201：Obtain the relative data between this car and front truck；Wherein, relative data includes relative distance data and phase
To speed data.
It is understood that relative data can include relative distance data and relative velocity data, it can also be included
His data, as long as ACC system can obtain the work information of front truck according to relative data, for acquisition relative data it is specific
Species and content, can voluntarily be set, the present embodiment does not do any to this by designer according to practical scene and user's request
Limitation.
Can be acquisition relative data in real time, or by pre- it should be noted that obtaining the time point of relative data
If time interval obtains relative data.Time point for obtaining relative data, that is, ACC system switching working mode is most
Small time interval, can voluntarily be set, the present embodiment does not do any to this by designer according to practical scene and user's request
Limitation.
Specifically, this car obtains the mode of relative data in the method provided for the present embodiment, millimeter can be passed through
Ripple radar obtains relative data in real time；Can also be by other devices in real time or interval acquiring relative data at preset timed intervals, this
Embodiment does not do any limitation to this.
Step 202：Relative data is handled, the work information of front truck is obtained.
Wherein, the processing in this step to relative data, can be that relative data is carried out to calculate the acceleration for obtaining front truck
Degree, so as to obtain the work information of front truck；It can also be that other processing are carried out to relative data, obtain the operating mode letter of front truck
Breath.As long as the work information of front truck can be obtained by the relative data, the concrete mode handled for relative data can
Voluntarily to be set according to practical scene and user's request by designer, the present embodiment does not do any limitation to this.
It is understood that in order to reduce or exclude the random error contained in relative data, being carried out to relative data
Before processing, it can also include：The step of being pre-processed to relative data.Such as by Kalman filter to the relative number
According to being pre-processed.
It should be noted that the detailed process pre-processed to relative data, such as using Kalman filtering algorithm to phase
When handling data, the concrete structure of Kalman filtering algorithm, the present embodiment does not do any limitation.
Step 203：According to work information, the corresponding ACC mode of operations of selection work information；Wherein, each ACC Working moulds
The working field of the corresponding ACC controller of formula and/or the weighted of slackness and/or performance indications.
Wherein, this step is similar to step 102, will not be repeated here.
In the present embodiment, the embodiment of the present invention, can be by relative by obtaining the relative data between this car and front truck
The processing of data, obtains the work information of front truck, is selected to switch the ACC work of this car according to the work information of front truck so as to reach
Pattern, that is, switch the purpose of the working field of ACC controller；By ACC controller in different ACC mode of operations working field
And/or the difference of the weight of slackness and/or performance indications so that this car further can be according to the different operating mode selections of front truck more
Plus the ACC mode of operations of the suitable operating mode are controlled, and improve the Experience Degree of user.
It refer to Fig. 4, a kind of ACC decision systems based on operating mode adaptive strategy that Fig. 4 is provided by the embodiment of the present invention
Structure chart.The system can include：
Condition module 100, the work information for obtaining front truck；
Selecting module 200, for according to the work information, selecting corresponding ACC mode of operations；Wherein, it is each described
The working field difference of the corresponding ACC controller of ACC mode of operations
Optionally, the condition module 100, can include：
Acquisition submodule, for obtaining the relative data between this car and the front truck；Wherein, the relative data includes phase
Data of adjusting the distance and relative velocity data；
Operating mode submodule, for handling the relative data, obtains the work information.
Optionally, the condition module 100, can also include：
Submodule is pre-processed, for being pre-processed by Kalman filter to the relative data.
In the present embodiment, front truck operating mode is divided into multiple typical conditions by the embodiment of the present invention, for every kind of operating mode lower generation
The otherness of the constraint space of each performance indications such as traceability, aviation fuel, comfortableness, security in valency function, and combine
The skilled daily driving custom for driving colony, designs the different ACC controller of working field under different ACC mode of operations, with
The work information of front truck is obtained by condition module 100 during, to recognizing for front truck operating mode, selecting module 200ACC
Controller can switch seamlessly to corresponding mode of operation, enhance adaptability of the ACC controller to complicated road traffic environment,
So as to improve the Experience Degree of user.
The embodiment of each in specification is described by the way of progressive, and what each embodiment was stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
Speech, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Detailed Jie has been carried out to ACC decision-making techniques and system provided by the present invention based on operating mode adaptive strategy above
Continue.Specific case used herein is set forth to the principle and embodiment of the present invention, and the explanation of above example is only
It is the method and its core concept for being used to help understand the present invention.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improve and repaiied
Decorations are also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. a kind of ACC decision-making techniques based on operating mode adaptive strategy, it is characterised in that including：
Obtain the work information of front truck；
According to the work information, corresponding ACC mode of operations are selected；Wherein, the corresponding ACC of each ACC mode of operations
The working field of controller is different.
2. the ACC decision-making techniques according to claim 1 based on operating mode adaptive strategy, it is characterised in that each institute
The working field for stating the corresponding ACC controller of ACC mode of operations is different, including：
Each the working field and/or slackness of the corresponding ACC controller of the ACC mode of operations are different.
3. the ACC decision-making techniques according to claim 2 based on operating mode adaptive strategy, it is characterised in that each institute
The working field and/or slackness for stating the corresponding ACC controller of ACC mode of operations are different, including：
The working field of the corresponding ACC controller of each ACC mode of operations and/or the weight of slackness and/or performance indications
It is different.
4. the ACC decision-making techniques based on operating mode adaptive strategy according to any one of claims 1 to 3, it is characterised in that institute
The work information for obtaining front truck is stated, including：
Obtain the relative data between this car and the front truck；Wherein, the relative data includes relative distance data and relatively fast
Degrees of data；
The relative data is handled, the work information is obtained.
5. the ACC decision-making techniques according to claim 4 based on operating mode adaptive strategy, it is characterised in that described to described
Before relative data is handled, in addition to：
The relative data is pre-processed by Kalman filter.
6. the ACC decision-making techniques according to claim 5 based on operating mode adaptive strategy, it is characterised in that obtain this car with
Relative data between the front truck, including：
Obtain the relative data in real time by millimetre-wave radar.
7. the ACC decision-making techniques according to claim 6 based on operating mode adaptive strategy, it is characterised in that the operating mode letter
Breath is specially：The anxious accelerating mode of stable state following condition, transient state, the anxious decelerating mode of transient state or combination following condition.
8. a kind of ACC decision systems based on operating mode adaptive strategy, it is characterised in that including：
Condition module, the work information for obtaining front truck；
Selecting module, for according to the work information, selecting corresponding ACC mode of operations；Wherein, each ACC work
The working field of the corresponding ACC controller of pattern is different.
9. the ACC decision systems according to claim 8 based on operating mode adaptive strategy, it is characterised in that the operating mode mould
Block, including：
Acquisition submodule, for obtaining the relative data between this car and the front truck；Wherein, the relative data include it is relative away from
From data and relative velocity data；
Operating mode submodule, for handling the relative data, obtains the work information.
10. the ACC decision systems according to claim 9 based on operating mode adaptive strategy, it is characterised in that the operating mode mould
Block, in addition to：
Submodule is pre-processed, for being pre-processed by Kalman filter to the relative data.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856669A (en) * | 2017-11-01 | 2018-03-30 | 合肥创宇新能源科技有限公司 | ACC control methods based on following condition adaptive strategy |
| CN108170148A (en) * | 2018-01-08 | 2018-06-15 | 天津英创汇智汽车技术有限公司 | For the control method and device of the domain controller of automatic Pilot |
| CN108170148B (en) * | 2018-01-08 | 2021-07-27 | 天津英创汇智汽车技术有限公司 | Control method and device of domain controller for automatic driving |
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