CN107856669A - ACC control methods based on following condition adaptive strategy - Google Patents
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- 230000001133 acceleration Effects 0.000 claims abstract description 26
- 230000001052 transient effect Effects 0.000 claims description 23
- 238000005516 engineering process Methods 0.000 claims description 11
- 230000036461 convulsion Effects 0.000 claims description 6
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 3
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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
- B60W30/14—Adaptive cruise 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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of ACC control methods based on following condition adaptive strategy, it is different from constraint space according to the performance indications strengthened under each operating mode, using performance indications weight recalibration and the strategy of constraint space border relaxation, design the ACC of multiple-working mode, to adapt to being accustomed to speeding for skilled driving colony, acceleration caused by avoiding single mode of operation is powerless or brakes not foot phenomenon, in addition, for simple target ACC, multiobjective decision-making has more advantage.
Description
Technical field
The invention belongs to semi-automatic driving technical field, is related to a kind of ACC control methods, is specifically that one kind is based on following work
The ACC control methods of condition adaptive strategy.
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 (Adapt ive Cru i se Contro l, 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 car
During traveling, vehicle road ahead persistently scan installed in the spacing sensor (radar) of front part of vehicle, while wheel speed biography
Sensor gathers GES.When too small with the distance between front truck, ACC control units can by with braking anti-lock system
System, engine control system coordination, make wheel suitably brake, and the power output of engine is declined so that vehicle and
Front vehicles remain safe distance, reach the effect of semi-automatic driving.
In the prior art, as a kind of advanced ADAS (Advanced Driver Assistant System, it is advanced to drive
Sail accessory system), ACC adaptive learning algorithms are intended to alleviate driving fatigue, lift 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,
Can not the ACC mode of operations according to corresponding to different operating mode situation selections 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
It is adapted to the working field of ACC controller of the operating mode to be controlled, 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 control methods based on following condition adaptive strategy, three kinds are designed
The ACC of mode of operation, to adapt to being accustomed to speeding for skilled driving colony, the powerless suppression of acceleration caused by avoiding single mode of operation
Or brake not foot phenomenon.
The purpose of the present invention can be achieved through the following technical solutions：
ACC control methods based on following condition adaptive strategy, specifically include following steps：
Step S1, vehicle road ahead is persistently scanned using the radar installed in front part of vehicle, it is relative to define longitudinal direction of car
Motion state, if not having front truck in vehicle front pre-determined distance, using cruise pattern, if in vehicle front pre-determined distance
There is front truck, lock onto target front truck, perform step S2；
Step S2, gather the acceleration a of target front truckp, and according to target front truck acceleration apSize, by following condition
It is divided into several operating mode；
Step S3, i.e. system work feasible zone according to the performance indications strengthened under each operating mode different from constraint space
Expansible degree differs, that is, the punishment degree to relaxation factor relaxation ability differs, using performance indications weight recalibration and about
The strategy of beam space boundary relaxation, several mode of operation corresponding with following condition is divided into by ACC；
Step S4, according to colony is driven with behavioural habits of speeding, using fuzzy reasoning, fuzzy membership function is established, it is determined that
Fuzzy rule, realize the switching between each mode of operations of ACC；
Step S5, weighting processing method is taken, solve the problems, such as pattern switching transitional region sudden change of acceleration, to lift traveling
Comfortableness, meanwhile, introduce new model and continuously judge times N, avoid frequent switching between pattern, meet desired control input：
In formula,The respectively control input of present mode and new model, af,desControl after being handled for weighting
Input, ωi、ωjFor the weight coefficient of corresponding modes.
Further, state estimation is carried out to target front truck using Radar Technology in the step S2, estimates target front truck
Acceleration ap, target front truck acceleration apEvaluation method be：
Wherein, afFor from car acceleration, Δ v is the relative speed from car and target front truck.
Further, the acceleration a of target front truck is directly obtained in the step S2 using V2V technologiesp。
Further, the following condition in the step S2 includes stable state following condition, transient state urgency accelerating mode and transient state
Anxious decelerating mode.
Further, the specific division methods of following condition in the step S2 are：
Work as ap＞ 1.0m/s2When, following condition is transient state urgency accelerating mode；
As -0.6m/s2＜ ap＜ 0.6m/s2When, following condition is stable state following condition；
Work as ap＜ -2.0m/s2When, following condition is transient state urgency decelerating mode.
Further, the mode of operation in the step S3 includes stable state follow the mode, transient state urgency accelerates pattern and wink
State urgency deceleration mode.
Further, the specific control strategy of three kinds of mode of operations in the step S3 is as follows：
Under stable state follow the mode, control constraints collection is calmed into hard constraint space as far as possible with state constraint collection；
Under transient state urgency acceleration pattern, to Δ d proper restraint, it should consider with car security, avoid neighboring trace car again
Frequent incision, while also need to take into account u, jerk relaxation degree to ensure certain ride comfort；
Under transient state urgency deceleration mode, with the increase of operating mode urgency level, the constraint to u, jerk broadens, i.e., to relaxation because
The punishment degree of son reduces, and the constraint to Δ d and Δ v narrows, i.e., the requirement to security improves.
Beneficial effects of the present invention：ACC control methods provided by the invention based on following condition adaptive strategy, according to each
The performance indications strengthened under operating mode are different from constraint space, relaxed using performance indications weight recalibration and constraint space border
Strategy, the ACC of multiple-working mode is designed, to adapt to being accustomed to speeding for skilled driving colony, avoid single mode of operation
Caused to accelerate powerless or braking not foot phenomenon, in addition, for compared with simple target ACC, multiobjective decision-making has more advantage.
Brief description of the drawings
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the longitudinally opposed movement relation schematic diagram of the present invention.
Fig. 2 is present system I/O constraint space schematic diagrames.
Fig. 3 is fuzzy membership function schematic diagram of the present invention.
Fig. 4 is acceleration decision-making schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The invention provides the ACC control methods based on following condition adaptive strategy, following steps are specifically included：
Step S1, vehicle road ahead is persistently scanned using the radar (spacing sensor) installed in front part of vehicle, defined
Longitudinal direction of car relative motion state, if as shown in figure 1, not having front truck in vehicle front pre-determined distance, using cruise mould
Formula, if there is front truck in vehicle front pre-determined distance, lock onto target front truck, perform step S2.By defining, longitudinal direction of car is relative to be transported
Dynamic state, can effective reduction mode switchover policy logical complexity, can also improve adaptability of the system to road traffic.
Step S2, state estimation is carried out to target front truck using Radar Technology or V2V technologies, estimates the acceleration of target front truck
Spend ap, according to target front truck acceleration apSize, by following condition be divided into stable state follow, transient state suddenly accelerate and transient state suddenly subtract
Fast three kinds of operating modes.
Specifically, using Radar Technology to target front truck acceleration a in step S2pEvaluation method be：
Wherein, afFor from car acceleration, Δ v is the relative speed from car and target front truck.
The specific division methods of following condition are in step S2：
Work as ap＞ 1.0m/s2When, following condition is transient state urgency accelerating mode；
As -0.6m/s2＜ ap＜ 0.6m/s2When, following condition is stable state following condition；
Work as ap＜ -2.0m/s2When, following condition is transient state urgency decelerating mode.
Step S3, system I/O constraint space schematic diagrames are illustrated in figure 2, according to the performance indications strengthened under each operating mode
It is different from constraint space, so as to which the expansible degree of system work feasible zone differs, that is, relaxation factor relaxation ability is punished
Penalize degree to differ, using performance indications weight recalibration and the strategy of constraint space border relaxation, ACC is divided into and following condition
Corresponding stable state follow the mode, transient state suddenly accelerate three kinds of mode of operations of pattern and transient state urgency deceleration mode, are ensuring to drive a vehicle
Under secured premise, it is intended to which comfortable experience is pursued, to improve the utilization rate of driver and crew and acceptance.
Specifically, the specific control strategy of three kinds of mode of operations is as follows in step S3：
Under stable state follow the mode, control constraints collection is calmed into hard constraint space as far as possible with state constraint collection；
Under transient state urgency acceleration pattern, to Δ d proper restraint, it should consider with car security, avoid neighboring trace car again
Frequent incision, while also need to take into account u, jerk relaxation degree to ensure certain ride comfort；
Under transient state urgency deceleration mode, with the increase of operating mode urgency level, the constraint to u, jerk broadens, i.e., to relaxation because
The punishment degree of son reduces, and the constraint to Δ d and Δ v narrows, i.e., the requirement to security improves.
Step S4, according to colony is driven with behavioural habits of speeding, using fuzzy reasoning, fuzzy membership function is established, it is determined that
Fuzzy rule, realize the switching between each mode of operations of ACC；Consider drive group behavior characteristic, vehicle relative motion relation,
The influence of the factors such as external environment condition, there is certain ambiguity, empirical using pattern switching rule, and fuzzy reasoning is being handled
Had a clear superiority in empirical model decision problem.
Specifically, fuzzy membership function is as shown in figure 3, fuzzy rule such as following table：
Step S5, as shown in figure 4, taking weighting processing method, solve the problems, such as pattern switching transitional region sudden change of acceleration,
To lift driving comfort, meanwhile, introduce new model and continuously judge times N, avoid frequent switching between pattern, make desired control defeated
Enter to meet：
In formula,The respectively control input of present mode and new model, af,desControl after being handled for weighting
Input, ωi、ωjFor the weight coefficient of corresponding modes.
ACC control methods provided by the invention based on following condition adaptive strategy, according to the property strengthened under each operating mode
Energy index is different from constraint space, using performance indications weight recalibration and the strategy of constraint space border relaxation, designs a variety of
The ACC of mode of operation, to adapt to being accustomed to speeding for skilled driving colony, the powerless suppression of acceleration caused by avoiding single mode of operation
Or not foot phenomenon is braked, in addition, for compared with simple target ACC, multiobjective decision-making has more advantage.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can close in any one or more embodiments or example
Suitable mode combines.
Above content is only to structure example of the present invention and explanation, affiliated those skilled in the art couple
Described specific embodiment is made various modifications or supplement or substituted using similar mode, without departing from invention
Structure surmounts scope defined in the claims, all should belong to protection scope of the present invention.
Claims (7)
1. the ACC control methods based on following condition adaptive strategy, it is characterised in that specifically include following steps：
Step S1, vehicle road ahead is persistently scanned using the radar installed in front part of vehicle, defines longitudinal direction of car relative motion
State, if not having front truck in vehicle front pre-determined distance, using cruise pattern, if before having in vehicle front pre-determined distance
Car, lock onto target front truck, perform step S2；
Step S2, gather the acceleration a of target front truckp, and according to target front truck acceleration apSize, following condition is divided
For several operating mode；
Step S3, according to the performance indications strengthened under each operating mode different from constraint space, i.e., system work feasible zone expands
Exhibition degree differs, that is, the punishment degree to relaxation factor relaxation ability differs, empty with constraint using performance indications weight recalibration
Between border relax strategy, ACC is divided into several mode of operation corresponding with following condition；
Step S4, according to colony is driven with behavioural habits of speeding, using fuzzy reasoning, fuzzy membership function is established, it is determined that fuzzy
Rule, realize the switching between each mode of operations of ACC；
Step S5, weighting processing method is taken, solve the problems, such as pattern switching transitional region sudden change of acceleration, to lift ride comfort
Property, meanwhile, introducing new model continuously judges times N, avoids frequent switching between pattern, meets desired control input：
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In formula,The respectively control input of present mode and new model, af,desControl after being handled for weighting is defeated
Enter, ωi、ωjFor the weight coefficient of corresponding modes.
2. the ACC control methods according to claim 1 based on following condition adaptive strategy, it is characterised in that the step
State estimation is carried out to target front truck using Radar Technology in rapid S2, estimates the acceleration a of target front truckp, the acceleration of target front truck
Spend apEvaluation method be：
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Wherein, afFor from car acceleration, Δ v is the relative speed from car and target front truck.
3. the ACC control methods according to claim 1 based on following condition adaptive strategy, it is characterised in that the step
The acceleration a of target front truck is directly obtained in rapid S2 using V2V technologiesp。
4. the ACC control methods according to claim 1 based on following condition adaptive strategy, it is characterised in that the step
Following condition in rapid S2 includes stable state following condition, transient state urgency accelerating mode and transient state urgency decelerating mode.
5. the ACC control methods according to claim 4 based on following condition adaptive strategy, it is characterised in that the step
Suddenly the specific division methods of following condition in S2 are：
Work as ap＞ 1.0m/s2When, following condition is transient state urgency accelerating mode；
As -0.6m/s2＜ ap＜ 0.6m/s2When, following condition is stable state following condition；
Work as ap＜ -2.0m/s2When, following condition is transient state urgency decelerating mode.
6. the ACC control methods according to claim 1 based on following condition adaptive strategy, it is characterised in that the step
Mode of operation in rapid S3 includes stable state follow the mode, transient state and suddenly accelerates pattern and transient state urgency deceleration mode.
7. the ACC control methods according to claim 6 based on following condition adaptive strategy, it is characterised in that the step
The specific control strategy of three kinds of mode of operations in rapid S3 is as follows：
Under stable state follow the mode, control constraints collection is calmed into hard constraint space as far as possible with state constraint collection；
Under transient state urgency acceleration pattern, to Δ d proper restraint, it should consider with car security, avoid neighboring trace vehicle again
Frequently incision, while also need to take into account u, jerk relaxation degree to ensure certain ride comfort；
Under transient state urgency deceleration mode, with the increase of operating mode urgency level, the constraint to u, jerk broadens, i.e., to relaxation factor
Punishment degree reduces, and the constraint to Δ d and Δ v narrows, i.e., the requirement to security improves.
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| CN111391830A (en) * | 2018-12-29 | 2020-07-10 | 长城汽车股份有限公司 | Longitudinal decision system and longitudinal decision determination method for automatic driving vehicle |
| CN111391830B (en) * | 2018-12-29 | 2021-11-26 | 毫末智行科技有限公司 | Longitudinal decision system and longitudinal decision determination method for automatic driving vehicle |
| CN111830951A (en) * | 2019-03-29 | 2020-10-27 | 中科院微电子研究所昆山分所 | Self-adaptive following prediction control method, system and device |
| CN110103959A (en) * | 2019-04-02 | 2019-08-09 | 清华大学苏州汽车研究院（相城） | A kind of self-adapting cruise control method |
| CN110033617A (en) * | 2019-04-19 | 2019-07-19 | 中国汽车工程研究院股份有限公司 | A kind of train tracing model assessment system and method towards natural driving data |
| CN111537236A (en) * | 2020-04-24 | 2020-08-14 | 吉林大学 | Traffic jam auxiliary system testing method |
| CN114312787A (en) * | 2021-12-28 | 2022-04-12 | 南京航空航天大学 | Intelligent vehicle control method for mixed traffic flow congestion working condition |
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