A kind of Vehicle Adaptive Cruising Control Systems and its control method
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 technique
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, realizes volume production 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 collection and analysis
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 will be greatly reduced the control accuracy of Vehicle Adaptive Cruising Control Systems.
Summary of the invention
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, for detecting the object of vehicle front;
Radar after vehicle, for detecting the object of rear of vehicle;
Vehicle side radar, for detecting the object of vehicle side;
Cruise control database, for storing cruise control strategy;
On the one hand car running computer module acquires the real time running status data of vehicle, on the other hand according to cruise control plan
Slightly the driving status 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 storing 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, comprising the following steps:
A, the reality of radar after Chinese herbaceous peony radar, vehicle, vehicle side radar, Chinese herbaceous peony camera and car running computer module acquisition vehicle driving
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 relevant cruise control strategies other in cruise control database;
E, car running computer module executes updated cruise control strategy.
Preferably, data analysis module carries out analysis to data and includes the following steps in step B,
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 is imaged using Chinese herbaceous peony radar and Chinese herbaceous peony
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 objective 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, the selection method of more new interface is to calculate the priority of more new interface in step C, priority is selected
Soprano be used as more new interface, if there is the interface of multiple equal priorities, select the smallest interface of more amount of new data as
The calculation method of more new interface, priority f is,
F=L × t,
Wherein, L is interface at a distance from cruise control strategy execution real time position, and t is that the update of interface is delayed.
Preferably, in step D, for the related cruise control policy selections being not carried out other in cruise control database
The smallest interface of more amount of new data is used as more new interface.
Brought beneficial effect is by adopting the above technical scheme: 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,
Useless, approximate data are deleted or merge substitution, to effectively increase the validity of data.By establishing more
New interface, may be implemented the flexible update of cruise control strategy, so that the actual effect of cruise control policy update is improved, so that more
Cruise control strategy after new is more suitable actual vehicle running state.The present invention revolutionizes existing adaptive cruise control
The data processing and self study process of system processed have very extensive application prospect, and low for hardware requirement, not will increase
The hardware cost of vehicle.
Detailed description of the invention
Fig. 1 is the structure chart of a specific embodiment 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 embodiment
Referring to Fig.1, a specific embodiment of the invention includes,
Chinese herbaceous peony radar 1 and Chinese herbaceous peony camera 4, for detecting the object of vehicle front;
Radar 2 after vehicle, for detecting the object of rear of vehicle;
Vehicle side radar 3, for detecting the object of vehicle side;
Cruise control database 5, for storing cruise control strategy;
On the one hand car running computer module 9 acquires the real time running status data of vehicle, on the other hand according to cruise control plan
Slightly the driving status 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
The collected data of brain module 9 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, comprising the following steps:
A, radar 2, vehicle side radar 3, Chinese herbaceous peony camera 4 and car running computer module 9 acquire vehicle row 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
Result is updated to be updated relevant cruise control strategies other 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 objective 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 for being 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 smallest interface of more amount of new data as more new interface,
The calculation method of priority f is,
F=L × t,
Wherein, L is interface at a distance from cruise control strategy execution real time position, and t is that the update of interface is delayed.
In step D, for the related cruise control policy selection more new datas being not carried out other in cruise control database 5
It measures the smallest interface and 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 establish and update transmission function G, it is linearly related to update transmission function G and objective function F.
In step E, after car running computer module 9 executes updated cruise control strategy, adopted according to car running computer module 9
Collect the real time data of vehicle driving and the deviation of objective function F, carries out feedback modifiers to transmission function G is updated, guaranteeing more
Under the premise of new transmission function G and objective function F is linearly related, make the deviation average of vehicle program traveling and objective 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, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, 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.