CN107539314A - A kind of automotive self-adaptive cruise control method and system - Google Patents
A kind of automotive self-adaptive cruise control method and system Download PDFInfo
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- CN107539314A CN107539314A CN201710765858.0A CN201710765858A CN107539314A CN 107539314 A CN107539314 A CN 107539314A CN 201710765858 A CN201710765858 A CN 201710765858A CN 107539314 A CN107539314 A CN 107539314A
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Abstract
The present invention relates to Cruise Control technical field, and in particular to a kind of automotive self-adaptive cruise control method and system, this method include：Into adaptive cruise；Current vehicle speed is obtained, and the first spacing value is obtained according to the speed；Whether detection and the spacing of front vehicles are less than the first spacing value；If it is, whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, whether detection and the spacing of front vehicle are more than the first spacing value；If it is, exit adaptive cruise.By the present invention, avoid collision or rear crash event occurs, so as to improve the security and sensitivity that cruise drives.
Description
Technical field
The present invention relates to Cruise Control technical field, and in particular to a kind of automotive self-adaptive cruise control method and is
System.
Background technology
Adaptive learning algorithms technology (Adaptive Cruise Control, abbreviation ACC) is a kind of intelligentized cruise
Control technology, it gathers GES so as to regulation speed by wheel speed sensors, passed by the spacing installed in front part of vehicle
Sensor persistently scans vehicle road ahead to lock vehicle of the traveling in front, then keeps constant spacing.Front truck adds
Speed, this car are automatically speeded up；Front truck slows down, this car automatic retarding；Front truck is brought to a halt, this car also phase emergency decelerating.
But for following three kinds of situations, adaptive learning algorithms can only brake hard, if spacing is smaller, very may be used
Energy can collide or rear crash event.Concrete condition is as follows：
1) jumped a queue suddenly or lane change by the vehicle in side track.
2) in the unexpected outgoing vehicles in crossing.
3) front vehicles brake hard.
For the above situation, current existing self-adaption cruise system is more using the response speed for improving ACC system, comes
Improve sensitivity and security that cruise drives.It is but simple by carrying when spacing is smaller, or when driver safety consciousness is not strong
High system response time, it is not so difficult to evade danger completely.
Further, for the above situation also by driver's active brake is reminded, to improve the security cruised and driven.
But this mode, it is impossible to evade this kind of risk that side track vehicle is jumped a queue suddenly or crossing vehicle rolls away from, it can only be avoided
Knocked into the back with front vehicles, it is impossible to avoid collision caused by the vehicle of side.
The content of the invention
The invention provides a kind of automotive self-adaptive cruise control method and system, is sent out with collision free or rear crash event
It is raw, so as to improve the security and sensitivity that cruise drives.
To achieve these goals, the invention provides following technical scheme：
A kind of automotive self-adaptive cruise control method, methods described include：
Into adaptive cruise；
Current vehicle speed is obtained, and the first spacing value is obtained according to the speed；
Whether detection and the spacing of front vehicles are less than the first spacing value；
If it is, whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；
If it is, whether detection and the spacing of front vehicle are more than the first spacing value；
If it is, exit adaptive cruise.
Preferably, methods described also includes：After exiting adaptive cruise, prompt operator brake and turn to.
Preferably, methods described also includes：
Before whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle, detection and front vehicles
Spacing whether be less than second setting spacing；If it is, continuing whether detection is more than with the spacing of left side vehicle or the right vehicle
First setting spacing.
Preferably, methods described also includes：
If being more than the described second setting spacing with the spacing of front vehicles, sending drop torsion to vehicle stability control system please
Ask, so that vehicle drop is turned round；
After vehicle drop is turned round, return and obtain current vehicle speed, and the first spacing value is obtained according to the speed.
Preferably, methods described also includes：
It is less than the described first setting spacing with the spacing of left side vehicle if detected,
Or detect and be less than the described first setting spacing with the spacing of the right vehicle,
Or detect and be less than the first spacing value with the spacing of front vehicle, then adaptive cruise is exited, and prompt to drive
The person of sailing brakes.
Preferably, methods described also includes：
It is more than the first spacing value, detection and left side vehicle or the right car with the spacing of front vehicles if detected
Spacing whether be less than described first setting spacing；
If it is, prompting driver left or right have vehicle close.
A kind of automotive self-adaptive cruise control system, including：Front radar, the system also include：Vehicle stabilization controls
System, adaptive controller and the driver side radar electrically connected with the adaptive controller, copilot side radar, rear Fanglei
Reach, the adaptive controller electrically connects with the front radar, and the adaptive controller is with vehicle stabilization control
System is communicated by CAN；After the adaptive controller control vehicle enters adaptive cruise, controlled from the vehicle stabilization
System obtains current vehicle speed, and obtains the first spacing value according to the speed；If the adaptive controller is by before described
Fanglei up to detect with the spacing of front vehicles be less than the first spacing value after, by the driver side detections of radar to a left side
Side vehicle is more than the first setting spacing by copilot side detections of radar to the spacing of the right vehicle, and passes through institute
State back radars and detect and be more than the first spacing value with the spacing of front vehicle, then control vehicle to exit adaptive cruise.
Preferably, the system also includes：The display electrically connected with the adaptive controller；
The adaptive controller passes through the display prompts driver system after control vehicle exits adaptive cruise
Move and turn to.
Preferably, the system also includes：The engine control to be communicated with the vehicle stability control system by CAN
System processed；The adaptive controller is by the driver side detections of radar and left side vehicle or passes through copilot side radar
Detect before whether being more than the described first setting spacing with the spacing of the right vehicle, whether detection is small with the spacing of front vehicles
Spacing is set in second, if not, sending drop to vehicle stability control system turns round request, so that the engine control system pair
Vehicle carries out drop torsion.
Preferably, the adaptive controller is described to being more than with the spacing of front vehicles by the front detections of radar
After first spacing value, if being less than the described first setting spacing to the spacing of left side vehicle by the driver side detections of radar
Or the described first setting spacing is less than to the spacing of the right vehicle by copilot side detections of radar, then control described aobvious
Show that device prompting driver left or right have vehicle close.
The beneficial effects of the present invention are：
Automotive self-adaptive cruise control method provided by the invention and system, adaptive controller enter adaptive in vehicle
After cruise, the first spacing value is obtained according to speed, and detects and is less than the first spacing value with the spacing of front vehicles, and
And detect and be more than the described first setting spacing with the spacing of left side vehicle or the right vehicle, and detect and front vehicle
Spacing is more than the first spacing value, then controls vehicle to exit adaptive cruise.By the present invention, collision free or rear crash event
Occur, so as to improve the security and sensitivity that cruise drives.
Brief description of the drawings
Fig. 1 is the first flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention.
Fig. 2 is second of flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention.
Fig. 3 is the third flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention.
Fig. 4 is a kind of structural representation of automotive self-adaptive cruise control system of the embodiment of the present invention.
Embodiment
In order that those skilled in the art can be further understood that the feature and technology contents of the present invention, below in conjunction with the accompanying drawings
The embodiment of the present invention is elaborated with embodiment.
As shown in figure 1, be the first flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention, including it is following
Step：
Step 101：Start.
Step 102：Into adaptive cruise.
The embodiment of the present invention is for self-adaption cruise system, automotive self-adaptive cruise control method provided by the invention
It can be performed by Self Adaptive Control implement body.
Step 103：Current vehicle speed is obtained, and the first spacing value is obtained according to the speed.
Specifically, speed can obtain current vehicle speed in real time by carrying out CAN communication with vehicle stability control system.
It should be noted that the accident-free vehicle of different speeds can be obtained by the stopping distance test under vehicle difference speed
Away from i.e. the first spacing value.It is as follows specifically to test process：A speed is set, under the aperture of brake pedal 100%, vehicle is complete
Braking distance under full cut-off, as the first spacing value；Then speed is adjusted again, continues to test.Speed can be according to different cars
It is changed, than speed as shown in table 1 from 60km/h, at interval of 10km/h growth, is tested to 120km/h.By looking into
This table is looked for, at various speeds for the first different spacing values, the higher security of vehicle can be ensured, avoid brake hard
Unnecessary injury.
Table 1
Step 104：Whether detection and the spacing of front vehicles are less than the first spacing value；If it is, perform step
105；Otherwise, return and perform step 104.
Step 105：Whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, hold
Row step 106；Otherwise, return and perform step 105.
It should be noted that first sets distance of the spacing as vehicle adjacent lane, such as, first set spacing as 2m extremely
Any value between 3m.
Step 106：Whether detection and the spacing of front vehicle are more than the first spacing value；If it is, perform step
107；Otherwise, return and perform step 106.
Step 107：Exit adaptive cruise.
Automotive self-adaptive cruise control method provided in an embodiment of the present invention, into after adaptive cruise, according to current vehicle
Speed obtains the first spacing value, is detected whether by the spacing for detecting front vehicles compared with the first spacing value more than two
Safe distance between car, to ensure vehicle traffic safety；Further, by detecting spacing, the right vehicle with left side vehicle
Spacing and front vehicle spacing, detect whether to exit adaptive cruise, occurred with collision free or rear crash event, ensured
The security of driving.
In the embodiment of the present invention, after adaptive cruise is exited, in order to preferably prompt driver's autonomous operation vehicle, also
By the setting such as display or human-computer interaction interface or alarm driver can be prompted to carry out subsequent operation, specifically, such as
Fig. 2 is second of flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention, is comprised the following steps：
Step 201：Start.
Step 202：Into adaptive cruise.
Step 203：Current vehicle speed is obtained, and the first spacing value is obtained according to the speed.
Step 204：Whether detection and the spacing of front vehicles are less than the first spacing value；If it is, perform step
205；Otherwise, step 209 is performed.
Step 205：Whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, hold
Row step 206；Otherwise, step 208 is performed.
Step 206：Whether detection and the spacing of front vehicle are more than the first spacing value；If it is, perform step
207；Otherwise, step 208 is performed.
Step 207：Adaptive cruise is exited, operator brake is prompted and turns to.
Specifically, can prompt to drive by the display or man-machine interface or siren electrically connected with adaptive controller
Member.Described man-machine interface, running orbit and the voice message of suggestion vehicle can be shown.In the application, if with left side car
Spacing be more than first setting spacing, then prompt driver turn to the left；If set with the spacing of the right vehicle more than first
Determine spacing, then prompt driver to turn to the right.
Step 208：Adaptive cruise is exited, prompts operator brake.
Step 209：Whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, hold
Row step 210；Otherwise, step 211 is performed.
Step 210：Keep adaptive cruise.
Step 211：Prompting driver left or right have vehicle close.
Self-adapting cruise control method provided in an embodiment of the present invention, into after adaptive cruise, obtained according to current vehicle speed
To the first spacing value, the spacing by detecting front vehicles detected whether compared with the first spacing value more than two cars it
Between safe distance；Further, by detecting spacing, the spacing of the right vehicle and the car of front vehicle with left side vehicle
Away from, it is determined that adaptive cruise is exited, and after adaptive cruise is exited, prompting operator brake simultaneously is turned to or prompted to drive
Driver left is either prompted in the person's of sailing braking or there is vehicle right, and the present invention can be in vehicle certainly by different prompting modes
When during main cruise or exiting autonomous cruise, inform driver carry out autonomous driving, so as to further avoid collision or
Rear crash event occurs, and ensures the security driven.
Further, in the embodiment of the present invention, in order to preferably plan adaptive cruise, when larger with front vehicles spacing
When, after making it smaller with front vehicles spacing, operator brake or left/right rotation can be then prompted by controlling vehicle sliding
To.It is the third flow chart of automotive self-adaptive cruise control method of the embodiment of the present invention as shown in Figure 3, comprises the following steps：
Step 301：Start.
Step 302：Into adaptive cruise.
Step 303：Current vehicle speed is obtained, and the first spacing value is obtained according to the speed.
Step 304：Whether detection and the spacing of front vehicles are less than the first spacing value；If it is, perform step
305；Otherwise, step 310 is performed.
Step 305：The spacing of detection and front vehicles is no to be less than the second setting spacing；If it is, perform step 306；It is no
Then, step 312 is performed.
It should be noted that second sets minimum distance of the spacing as between two vehicles travelled, the second setting car
Away from for the small spacing value of the first spacing value in table 1 than minimum, such as, second sets spacing as 15m.
Step 306：Whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, hold
Row step 307；Otherwise, step 313 is performed.
Step 307：Whether detection and the spacing of front vehicle are more than the first spacing value；If it is, perform step
308；Otherwise, step 313 is performed.
Step 308：Adaptive cruise is exited, operator brake is prompted and turns to.
Step 309：Whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；If it is, hold
Row step 310；Otherwise, step 311 is performed.
Step 310：Keep adaptive cruise.
Step 311：Prompting driver left or right have vehicle close.Step 312：Start to vehicle stability control system
Drop turns round request, performs step 303.
It should be noted that when the vehicle and the spacing of front vehicles currently to cruise is less than the second setting spacing, reach
The minimum spacing that can be accommodated of adaptive cruise, vehicle than relatively hazardous, it is necessary to control vehicle drop to turn round, to reach and vehicle is drawn
Open the purpose of distance.And vehicle drop is turned round and performed by engine control system, therefore vehicle stability control system receives drop torsion and asked
After asking, send drop to engine control system and turn round request, so that engine control system control vehicle drop is turned round, the specific table of vehicle
It is now to slide operation.
Step 313：Adaptive cruise is exited, prompts operator brake.
Self-adapting cruise control method provided in an embodiment of the present invention, into after adaptive cruise, obtained by current vehicle speed
First spacing value, if detecting that the spacing of front vehicles is less than the first spacing value, further by the first spacing value with
Second setting spacing is compared, if the first spacing value is more than the second setting spacing, by vehicle stability control system
Start drop to turn round request to ask engine control system drop to be turned round, slide vehicle reduction of speed, most pacify with front vehicles so as to ensure that
Full distance；Further with collision free or knocked into the back by the distance detected with the left side, the right and front vehicle, to greatest extent
Guarantee drive security.
For the above method, the embodiment of the present invention additionally provides a kind of automotive self-adaptive cruise control system, such as Fig. 4 institutes
Show, the system includes：Front radar, the system also include：Vehicle stability control system, adaptive controller and with it is described
Adaptive controller electrical connection driver side radar, copilot side radar, back radars, the adaptive controller with it is described before
Fanglei is communicated up to electrical connection, the adaptive controller with the vehicle stability control system by CAN；It is described adaptive
After controller control vehicle enters adaptive cruise, current vehicle speed is obtained from the vehicle stability control system, and according to described
Speed obtains the first spacing value；If the adaptive controller passes through the front detections of radar to the spacing with front vehicles
After the first spacing value, by the driver side detections of radar to left side vehicle or passing through copilot side radar
Detect and be more than the first setting spacing with the spacing of the right vehicle, and detected and front vehicle by the back radars
Spacing is more than the first spacing value, then controls vehicle to exit adaptive cruise.
Specifically, it is anterior to may be mounted at hair cabin for front radar；Driver side radar is arranged on hair cabin side, close to driver side
Door；Copilot side radar is arranged on hair cabin side, close to copilot side door；Back radars are arranged on engine tail-gate.Further,
The embodiment of the present invention, adaptively can also by CAN respectively with the front radar, the driver side radar, the pair
Driver side radar and back radars connection, to obtain the information of each radar in real time.
It should be noted that the accident-free vehicle of different speeds can be obtained by the stopping distance test under vehicle difference speed
Away from i.e. the first spacing value.It is as follows specifically to test process：A speed is set, under the aperture of brake pedal 100%, vehicle is complete
Braking distance under full cut-off, as the first spacing value；Then speed is adjusted again, continues to test.Speed can be according to different cars
It is changed, than speed as shown in table 1 from 60km/h, at interval of 10km/h growth, is tested to 120km/h.By looking into
This table is looked for, at various speeds for the first different spacing values, the higher security of vehicle can be ensured, avoid brake hard
Unnecessary injury.Further, it is necessary to which explanation, first sets distance of the spacing as vehicle adjacent lane, such as, first sets
Spacing is determined for 2m to any value between 3m.
Further, in an alternative embodiment of the invention, the system can also include：With adaptive controller electricity
The display of connection；The adaptive controller is driven after control vehicle exits adaptive cruise by the display prompts
The person of sailing brakes and turned to.Certainly, the embodiment of the present invention can also include：The man-machine interface electrically connected with the adaptive controller
Or/and siren；Specifically, described man-machine interface, running orbit and the voice message of suggestion vehicle can be shown.
In the embodiment of the present invention, the adaptive controller is less than the first spacing value detecting with the spacing of front vehicles
When, it is less than the first setting spacing if further detected with the spacing of left side vehicle or is less than institute with the spacing of the right vehicle
State the first setting spacing or be less than the first spacing value with the spacing of front vehicle, then exit adaptive cruise, and prompt
Operator brake.
In the embodiment of the present invention, the adaptive controller passes through the front detections of radar to the spacing with front vehicles
After the first spacing value, if being less than described first to the spacing of left side vehicle by the driver side detections of radar
Set spacing or the described first setting spacing is less than to the spacing of the right vehicle by copilot side detections of radar, then control
Making the display prompts driver left or right has vehicle close.Further, the adaptive controller is by before described
Fanglei up to detect with the spacing of front vehicles be more than the first spacing value after, if arrived by the driver side detections of radar
With the spacing of left side vehicle be more than the described first setting spacing and by copilot side detections of radar to the right vehicle
Spacing be more than described first setting spacing, then keep adaptive cruise.
Further, in an alternative embodiment of the invention, the system also includes：Lead to the vehicle stability control system
Cross the engine control system of CAN communication；The adaptive controller passes through the driver side detections of radar and left side car
Or by copilot side detections of radar to the spacing with the right vehicle whether be more than described first setting spacing before, inspection
Survey with whether the spacing of front vehicles is less than the second setting spacing, if not, sending drop to vehicle stability control system turns round request,
So that the engine control system carries out drop torsion to vehicle.It should be noted that second sets two cars of the spacing as traveling
Minimum distance between, second set spacing as table 1 in than minimum the small spacing value of the first spacing value, such as, second
Spacing is set as 15m.
It should be noted that after engine control system carries out drop torsion to vehicle, adaptive controller continues from vehicle
Stabilizing control system obtains current vehicle speed, and obtains the first spacing value according to the speed.
Automotive self-adaptive cruise control system provided in an embodiment of the present invention, front radar collects front traffic information, main
To include whether having vehicle appearance in the first spacing value.Driver side radar collects driver side traffic information, is mainly set including first
Determine whether have vehicle appearance in spacing.Copilot side radar collects copilot side traffic information, main to include the first setting spacing
Inside whether there is vehicle appearance.Back radars collect rear traffic information, mainly include whether having vehicle appearance in the first spacing value.
Adaptive controller receives each radar signal in real time, and passes through condition judgment, makes current state analysis, works as status safety,
Cruise is kept, when condition variation, starts the response of brake regulation, when inclement condition, driver is made and intervenes braking and turn to
Response, while pass through man-machine interface voice message driver.The present invention adds on the basis of the configuration of existing front radar
Vehicle stability control system, driver side radar, copilot side radar and back radars, adaptive controller control vehicle enter
After adaptive cruise, speed is obtained from vehicle stability control system, to be worth to the first spacing value according to speed, and in vehicle
Be less than the first spacing value with the spacing of front vehicles, be more than the first setting spacing with the spacing of left side vehicle, or with the right
When vehicle side more than the described first setting spacing and with the spacing of front vehicle away from the first spacing value is more than, car is controlled
Exit adaptive cruise prompting operator brake and turn to.By the present invention, avoid collision or rear crash event occurs, ensure
The security driven.
In summary, automotive self-adaptive cruise control method provided in an embodiment of the present invention and system, using multiple directions
Radar sensor carry out road condition monitoring, while the reference value compared with the spacing of front vehicles is no longer a driver with
The spacing of machine setting, but the spacing value related to speed obtained on stream according to experiment, between vehicle
Spacing it is smaller than it is relatively hazardous when, can by voice message driver slow down and lane change, to solve front vehicles brake hard
Or side vehicle is jumped a queue suddenly or the danger of lane change, cruise safety is fully ensured that.Specifically, the features of the present invention is as follows：1) lead to
Crossing in automotive self-adaptive cruise control system, increases the radar sensor of multiple directions, ensures the security of vehicle all directions.
2) in the automotive self-adaptive cruise control method provided, the first spacing value compared with front vehicles of setting, by setting
Cruise speed is tabled look-up the safe distance between vehicles drawn, has different safe distance between vehicles so as to which the vehicle that ensures to cruise corresponds to friction speed.3) originally
In inventive embodiments, current vehicle enters in safe distance, passes through the monitoring of the vehicle distances to left and right rear, adaptive controller
Can judgement carry out lane change, and by voice message to driver.4) in the embodiment of the present invention, by right and left vehicle away from
From monitoring, determine whether that side vehicle is close, by voice message to driver.
The embodiment of the present invention is described in detail above, embodiment used herein is carried out to the present invention
Illustrate, the explanation of above example is only intended to help to understand system and method for the invention；Meanwhile for the one of this area
As technical staff, according to the thought of the present invention, there will be changes in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of automotive self-adaptive cruise control method, it is characterised in that methods described includes：
Into adaptive cruise；
Current vehicle speed is obtained, and the first spacing value is obtained according to the speed；
Whether detection and the spacing of front vehicles are less than the first spacing value；
If it is, whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle；
If it is, whether detection and the spacing of front vehicle are more than the first spacing value；
If it is, exit adaptive cruise.
2. automotive self-adaptive cruise control method according to claim 1, it is characterised in that methods described also includes：Move back
After going out adaptive cruise, prompt operator brake and turn to.
3. automotive self-adaptive cruise control method according to claim 2, it is characterised in that methods described also includes：
Before whether detection is more than the first setting spacing with the spacing of left side vehicle or the right vehicle, detection and the car of front vehicles
Away from whether less than the second setting spacing；If it is, continuing whether detection is more than first with the spacing of left side vehicle or the right vehicle
Set spacing.
4. automotive self-adaptive cruise control method according to claim 3, it is characterised in that methods described also includes：
If being more than the described second setting spacing with the spacing of front vehicles, sending drop to vehicle stability control system turns round request,
So that vehicle drop is turned round；
After vehicle drop is turned round, return and obtain current vehicle speed, and the first spacing value is obtained according to the speed.
5. according to the automotive self-adaptive cruise control method described in claim any one of 1-4, it is characterised in that methods described is also
Including：
It is less than the described first setting spacing with the spacing of left side vehicle if detected,
Or detect and be less than the described first setting spacing with the spacing of the right vehicle,
Or detect and be less than the first spacing value with the spacing of front vehicle, then adaptive cruise is exited, and prompt driver
Braking.
6. automotive self-adaptive cruise control method according to claim 5, it is characterised in that methods described also includes：
It is more than the first spacing value with the spacing of front vehicles if detected, detection and left side vehicle or the right vehicle
Whether spacing is less than the described first setting spacing；
If it is, prompting driver left or right have vehicle close.
7. a kind of automotive self-adaptive cruise control system, including：Front radar, it is characterised in that the system also includes：Vehicle
Stabilizing control system, adaptive controller and the driver side radar electrically connected with the adaptive controller, copilot side thunder
Reach, back radars, the adaptive controller electrically connects with the front radar, and the adaptive controller and the vehicle are steady
Determine control system to communicate by CAN；After the adaptive controller control vehicle enters adaptive cruise, from the vehicle
Stabilizing control system obtains current vehicle speed, and obtains the first spacing value according to the speed；If the adaptive controller leads to
The front detections of radar is crossed to after being less than the first spacing value with the spacing of front vehicles, is examined by the driver side radar
Measure with left side vehicle or be more than the first setting spacing by copilot side detections of radar to the spacing of the right vehicle, and
And detected by the back radars and be more than the first spacing value with the spacing of front vehicle, then control vehicle to exit adaptive
It should cruise.
8. automotive self-adaptive cruise control system according to claim 7, it is characterised in that the system also includes：With
The display of the adaptive controller electrical connection；
The adaptive controller is after control vehicle exits adaptive cruise, by the display prompts operator brake simultaneously
Turn to.
9. automotive self-adaptive cruise control system according to claim 8, it is characterised in that the system also includes：With
The engine control system that the vehicle stability control system is communicated by CAN；The adaptive controller passes through described
Whether driver side detections of radar is more than with left side vehicle or by copilot side detections of radar to the spacing with the right vehicle
Before the first setting spacing, whether the spacing of detection and front vehicles is less than the second setting spacing, if not, steady to vehicle
Determine control system and send drop torsion request, so that the engine control system carries out drop torsion to vehicle.
10. automotive self-adaptive cruise control system according to claim 8 or claim 9, it is characterised in that the Self Adaptive Control
Device by the front detections of radar to the spacing of front vehicles be more than the first spacing value after, if passing through the driving
Side detections of radar arrives to the spacing of left side vehicle less than the described first setting spacing or by copilot side detections of radar
It is less than the described first setting spacing with the spacing of the right vehicle, then controls the display prompts driver left or right to have car
It is close.
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| CN109177976A (en) * | 2018-10-22 | 2019-01-11 | 吉利汽车研究院（宁波）有限公司 | Self-adapting cruise control method and system |
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| CN111114546A (en) * | 2018-10-31 | 2020-05-08 | 罗伯特·博世有限公司 | Method and apparatus for controlling cruise control |
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