CN108327718A - A kind of Vehicle Adaptive Cruising Control Systems and its control method - Google Patents
A kind of Vehicle Adaptive Cruising Control Systems and its control method Download PDFInfo
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- CN108327718A CN108327718A CN201810125484.0A CN201810125484A CN108327718A CN 108327718 A CN108327718 A CN 108327718A CN 201810125484 A CN201810125484 A CN 201810125484A CN 108327718 A CN108327718 A CN 108327718A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims description 12
- 241000736199 Paeonia Species 0.000 claims abstract description 44
- 235000006484 Paeonia officinalis Nutrition 0.000 claims abstract description 44
- 238000011217 control strategy Methods 0.000 claims abstract description 35
- 238000007405 data analysis Methods 0.000 claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 3
- 238000010187 selection method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 5
- 238000013480 data collection Methods 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 210000004556 brain Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- ONUFESLQCSAYKA-UHFFFAOYSA-N iprodione Chemical compound O=C1N(C(=O)NC(C)C)CC(=O)N1C1=CC(Cl)=CC(Cl)=C1 ONUFESLQCSAYKA-UHFFFAOYSA-N 0.000 description 2
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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
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of Vehicle Adaptive Cruising Control Systems, including Chinese herbaceous peony radar and Chinese herbaceous peony camera, the object for detecting vehicle front；Radar after vehicle, the object for detecting rear of vehicle；Vehicle side radar, the object for detecting vehicle side；Cruise control database, for storing cruise control strategy；Car running computer module, the real time running status data of collection vehicle control the transport condition of vehicle according to cruise control strategy；Data analysis module, for analyzing radar, vehicle side radar, Chinese herbaceous peony camera and the collected data of car running computer module after Chinese herbaceous peony radar, vehicle；Policy update module, the cruise control strategy for being stored up to cruise control databases are updated；Policy update interface module provides the more new interface of cruise control strategy for policy update module.The present invention can improve the deficiencies in the prior art, reduce data processing amount, reduce the interdependency for data collection capacity and acquisition accuracy.
Description
Technical field
The present invention relates to Vehicular intelligent control technology field, especially a kind of Vehicle Adaptive Cruising Control Systems and its control
Method processed.
Background technology
In recent years, with the development of artificial intelligence technology, the automatic Pilot technology of vehicle has obtained development at full speed, wherein
Vehicle adaptive cruise (ACC) the automatic Pilot technology more universal as one, volume production is realized on a variety of vehicles.It is existing
Vehicle Adaptive Cruising Control Systems, although control accuracy is higher, this is built upon a large amount of Data acquisition and issuance
On the basis of realize.Not only data processing amount is big, and very high for the accuracy interdependency of data acquisition, if external environment
Data are acquired and there is interference, then can substantially reduce the control accuracy of Vehicle Adaptive Cruising Control Systems.
Invention content
The technical problem to be solved in the present invention is to provide a kind of Vehicle Adaptive Cruising Control Systems and its control method, energy
The deficiencies in the prior art are enough solved, data processing amount is not only reduced, and are reduced accurate for data collection capacity and acquisition
The interdependency of degree.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of Vehicle Adaptive Cruising Control Systems, including,
Chinese herbaceous peony radar and Chinese herbaceous peony camera, the object for detecting vehicle front；
Radar after vehicle, the object for detecting rear of vehicle；
Vehicle side radar, the object for detecting vehicle side；
Cruise control database, for storing cruise control strategy；
Car running computer module, the real time running status data of one side collection vehicle, on the other hand according to cruise control plan
Slightly the transport condition of vehicle is controlled；
Data analysis module, for radar, vehicle side radar, Chinese herbaceous peony camera and car running computer mould after Chinese herbaceous peony radar, vehicle
The collected data of block are analyzed；
Policy update module, the cruise control strategy for being stored up to cruise control databases are updated；
Policy update interface module provides the more new interface of cruise control strategy for policy update module.
A kind of control method of above-mentioned Vehicle Adaptive Cruising Control Systems, includes the following steps：
A, the reality that radar, vehicle side radar, Chinese herbaceous peony camera and car running computer module collection vehicle travel after Chinese herbaceous peony radar, vehicle
When data, and send data to data analysis module；
B, data analysis module analyzes data, and analysis result is sent to policy update module and policy update connects
Mouth mold block；
C, the more new interface for the cruise control strategy that the selection of policy update interface module is carrying out, and set up strategy more
Communication connection between new module and cruise control database；
D, policy update module is updated the cruise control strategy being carrying out by more new interface, then according to more
New result is updated other relevant cruise control strategies in cruise control database；
E, car running computer module executes updated cruise control strategy.
Preferably, in step B, data analysis module carries out analysis to data and includes the following steps,
B1, the data that Chinese herbaceous peony radar and Chinese herbaceous peony camera obtain are merged into fitting, for only in Chinese herbaceous peony radar or vehicle
The data packet occurred in preceding camera carries out denoising, then erased noise data packet uses Chinese herbaceous peony radar and Chinese herbaceous peony to image
The vehicle side data and car running computer module that data, vehicle side radar obtain after Chinese herbaceous peony data that head obtains, the vehicle that radar obtains after vehicle
The vehicle operation data of acquisition establishes vehicle-state set A, the A={ (a in time domain scale1, b1, c1, d1)…(an, bn, cn,
dn), wherein anFor vehicle outside longitudinal direction state, bnFor vehicle outside transverse state, c1For vehicle running state, dnIt is adopted for state
Collect the moment；
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2；
B3, the object function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting in fitting
Weighted value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point.
Preferably, in step C, the selection method of more new interface is to calculate the priority of more new interface, selects priority
Soprano is used as more new interface, if there is the interface of multiple equal priorities, select the interface of the amount of updating the data minimum as
The computational methods of more new interface, priority f are,
F=L × t,
Wherein, L be interface with cruise control strategy execution real time position at a distance from, t be interface update delay.
Preferably, in step D, for other related cruise control policy selections being not carried out in cruise control database
The interface of the amount of updating the data minimum is used as more new interface.
It is using advantageous effect caused by above-mentioned technical proposal：The present invention is by improving for cruise control strategy
Update mode realizes the purpose for reducing data processing amount and improving control accuracy.By the pretreatment of the data to acquisition,
Replacement is deleted or merged to useless, approximate data, to effectively increase the validity of data.By establishing more
The flexible update of cruise control strategy may be implemented in new interface, to improve the actual effect of cruise control policy update so that more
Cruise control strategy after new is more suitable for actual vehicle running state.The present invention revolutionizes existing adaptive cruise control
The data processing of system processed and self study process have very extensive application prospect, and low for hardware requirement, will not increase
The hardware cost of vehicle.
Description of the drawings
Fig. 1 is the structure chart of a specific implementation mode of the invention.
In figure：1, Chinese herbaceous peony radar；2, radar after vehicle；3, vehicle side radar；4, Chinese herbaceous peony camera；5, cruise control database；
6, data analysis module；7, policy update module；8, policy update interface module；9, car running computer module.
Specific implementation mode
Referring to Fig.1, a specific implementation mode of the invention includes,
Chinese herbaceous peony radar 1 and Chinese herbaceous peony camera 4, the object for detecting vehicle front；
Radar 2 after vehicle, the object for detecting rear of vehicle；
Vehicle side radar 3, the object for detecting vehicle side；
Cruise control database 5, for storing cruise control strategy；
Car running computer module 9, the real time running status data of one side collection vehicle, on the other hand according to cruise control plan
Slightly the transport condition of vehicle is controlled；
Data analysis module 6, for radar 2, vehicle side radar 3, Chinese herbaceous peony camera 4 and driving electricity after Chinese herbaceous peony radar 1, vehicle
9 collected data of brain module are analyzed；
Policy update module 7, for being updated to the cruise control strategy stored in cruise control database 5；
Policy update interface module 8 provides the more new interface of cruise control strategy for policy update module 7.
A kind of control method of above-mentioned Vehicle Adaptive Cruising Control Systems, includes the following steps：
A, radar 2,9 collection vehicle row of vehicle side radar 3, Chinese herbaceous peony camera 4 and car running computer module after Chinese herbaceous peony radar 1, vehicle
The real time data sailed, and send data to data analysis module 6；
B, data analysis module 6 analyzes data, and analysis result is sent to policy update module 7 and policy update
Interface module 8；
C, policy update interface module 8 selects the more new interface for the cruise control strategy being carrying out, and sets up strategy
Communication connection between update module 7 and cruise control database 5；
D, policy update module 7 is updated the cruise control strategy being carrying out by more new interface, then basis
Update result is updated other relevant cruise control strategies in cruise control database 5；
E, car running computer module 9 executes updated cruise control strategy.
In step B, data analysis module 6 carries out analysis to data and includes the following steps,
B1, the data that Chinese herbaceous peony radar 1 and Chinese herbaceous peony camera 4 obtain are merged into fitting, for only in Chinese herbaceous peony radar 1 or
The data packet occurred in Chinese herbaceous peony camera 4 carries out denoising, then erased noise data packet uses Chinese herbaceous peony radar 1 and Chinese herbaceous peony
The vehicle side data and driving electricity that data, vehicle side radar 3 obtain after Chinese herbaceous peony data that camera 4 obtains, the vehicle that radar 2 obtains after vehicle
The vehicle operation data that brain module 9 obtains establishes vehicle-state set A, the A={ (a in time domain scale1, b1, c1, d1)…(an,
bn, cn, dn), wherein anFor vehicle outside longitudinal direction state, bnFor vehicle outside transverse state, c1For vehicle running state, dnFor
The state acquisition moment；
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2；
B3, the object function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting in fitting
Weighted value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point.
In step B1, the method for carrying out denoising to data packet is that data packet is decomposed into loop cycle portion and non-week
Phase circulation portions；For loop cycle portion, Fourier decomposition is carried out, the high fdrequency component higher than frequency threshold is then deleted, for non-
Loop cycle portion carries out ratio enlargement, and the part that then will be greater than amplitude thresholds carries out scaled down, is less than amplitude threshold
Value；Then treated loop cycle portion and aperiodic tasks portion are merged.
In step C, the selection method of more new interface is to calculate the priority of more new interface, and highest priority person is selected to make
For more new interface, if there is the interface of multiple equal priorities, select the interface of the amount of updating the data minimum as more new interface,
The computational methods of priority f are,
F=L × t,
Wherein, L be interface with cruise control strategy execution real time position at a distance from, t be interface update delay.
In step D, other related cruise control policy selections being not carried out in cruise control database 5 are updated the data
The minimum interface of amount is used as more new interface.
Before updating cruise control strategy, the related cruise control strategy that is not carried out in cruise control database 5 it
Between to establish update transmission function G, update transmission function G and object function F linearly related.
In step E, after car running computer module 9 executes updated cruise control strategy, adopted according to car running computer module 9
The deviation for collecting the real time data and object function F of vehicle traveling carries out feedback modifiers to update transmission function G, is ensureing more
Under the premise of new transmission function G and object function F linear correlations, make the deviation average of vehicle program traveling and object function F
Keep minimum.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of the description present invention, does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of Vehicle Adaptive Cruising Control Systems, it is characterised in that：Including,
Chinese herbaceous peony radar (1) and Chinese herbaceous peony camera (4), the object for detecting vehicle front；
Radar (2) after vehicle, the object for detecting rear of vehicle；
Vehicle side radar (3), the object for detecting vehicle side；
Cruise control database (5), for storing cruise control strategy；
Car running computer module (9), the real time running status data of one side collection vehicle, on the other hand according to cruise control strategy
The transport condition of vehicle is controlled；
Data analysis module (6), for radar (2) after Chinese herbaceous peony radar (1), vehicle, vehicle side radar (3), Chinese herbaceous peony camera (4) and
Car running computer module (9) collected data are analyzed；
Policy update module (7), for being updated to the cruise control strategy stored in cruise control database (5)；
Policy update interface module (8) provides the more new interface of cruise control strategy for policy update module (7).
2. a kind of control method of Vehicle Adaptive Cruising Control Systems described in claim 1, it is characterised in that including following
Step：
A, radar (2), vehicle side radar (3), Chinese herbaceous peony camera (4) and car running computer module (9) acquisition after Chinese herbaceous peony radar (1), vehicle
The real time data of vehicle traveling, and send data to data analysis module (6)；
B, data analysis module (6) analyzes data, and analysis result is sent to policy update module (7) and policy update
Interface module (8)；
C, the more new interface for the cruise control strategy that policy update interface module (8) selection is carrying out, and set up strategy more
Communication connection between new module (7) and cruise control database (5)；
D, policy update module (7) is updated the cruise control strategy being carrying out by more new interface, then according to more
New result is updated other relevant cruise control strategies in cruise control database (5)；
E, car running computer module (9) executes updated cruise control strategy.
3. the control method of Vehicle Adaptive Cruising Control Systems according to claim 2, it is characterised in that：In step B,
Data analysis module (6) carries out analysis to data and includes the following steps,
B1, the data that Chinese herbaceous peony radar (1) and Chinese herbaceous peony camera (4) obtain are merged into fitting, for only in Chinese herbaceous peony radar (1)
Or the data packet occurred in Chinese herbaceous peony camera (4) carries out denoising, then erased noise data packet uses Chinese herbaceous peony radar (1)
The vehicle side that data, vehicle side radar (3) obtain after the Chinese herbaceous peony data that are obtained with Chinese herbaceous peony camera (4), the vehicle that radar (2) obtains after vehicle
The vehicle operation data that data and car running computer module (9) obtain establish in time domain scale vehicle-state set A, A=(a1,
B1, c1, d1) ... (an, bn, cn, dn) }, wherein an is vehicle outside longitudinal direction state, and bn is vehicle outside transverse state, and c1 is
Vehicle running state, dn are the state acquisition moment；
B2, the selected characteristic point set P in vehicle-state set,
P=argmin | | Ai-Ai-1||2；
B3, the object function F that vehicle-state is fitted using set of characteristic points P, each characteristic point have fitting weight in fitting
Value, fitting weighted value are inversely proportional with the deviation between characteristic point and its adjacent non-characteristic point.
4. the control method of Vehicle Adaptive Cruising Control Systems according to claim 3, it is characterised in that：In step C,
The selection method of more new interface is to calculate the priority of more new interface, selects highest priority person as more new interface, if occurring
The interface of multiple equal priorities then selects the interface of the amount of updating the data minimum as more new interface, the computational methods of priority f
For,
F=L × t,
Wherein, L be interface with cruise control strategy execution real time position at a distance from, t be interface update delay.
5. the control method of Vehicle Adaptive Cruising Control Systems according to claim 4, it is characterised in that：In step D,
The interface of the other related cruise control policy selection amount of updating the data minimums being not carried out in cruise control database (5) is made
For more new interface.
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Cited By (3)
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| CN108327718B (en) | 2019-11-19 |
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Effective date of registration: 20191023 Address after: 100082 State Intellectual Property Office, No. 6, Xitucheng Road, Haidian District, Beijing Applicant after: Wang Yong Address before: 124117 Group 2, Xihui Village, Shaling Town, Panshan County, Panjin City, Liaoning Province Applicant before: Zhou Feng |
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Effective date of registration: 20230421 Address after: Room 2-1605c, 13th Floor, Building 1, No. 168 Guang'anmenwai Street, Xicheng District, Beijing, 100055 Patentee after: Beijing Xinzhixiang Technology Co.,Ltd. Address before: China National Intellectual Property Administration, No. 6, Xitucheng Road, Haidian District, Beijing 100082 Patentee before: Wang Yong |