CN108909709A - Automatic follow the bus method and device - Google Patents
Automatic follow the bus method and device Download PDFInfo
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- CN108909709A CN108909709A CN201810764024.2A CN201810764024A CN108909709A CN 108909709 A CN108909709 A CN 108909709A CN 201810764024 A CN201810764024 A CN 201810764024A CN 108909709 A CN108909709 A CN 108909709A
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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
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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
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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Abstract
The present invention relates to a kind of automatic follow the bus method and devices, belong to intelligent vehicle field, which includes：Obtain the running data of the front truck of trailer-mounted radar acquisition, front truck and this parking stall in same lane, and with the relative distance of this vehicle minimum；According to the running data of the running data of front truck and Ben Che, follow the bus control law is determined using nonsingular fast terminal sliding formwork control mode；This vehicle traveling is controlled according to follow the bus control law, wherein, the running data of front truck includes the travel speed of front truck and the actual range of Ben Che and front truck, and the running data of this vehicle includes the travel speed of this vehicle, and the safe distance of this vehicle and front truck is excessive when solving automatic follow the bus, follow the bus effect is poor, the lower problem of traffic traffic efficiency, the safe distance of this vehicle and front truck is excessive when avoiding automatic follow the bus, improves follow the bus effect, traffic traffic efficiency is improved, automatic follow the bus is used for.
Description
Technical field
The present invention relates to intelligent vehicle field, in particular to a kind of automatic follow the bus method and device.
Background technique
With the rapid development of the automotive industry and continuous improvement of people's living standards, automobile have rapidly entered common family
Front yard.Since the vehicle travelled on road is more and more, traffic congestion phenomenon is got worse.In the case where long-time congestion, vehicle
Traveling is very slow, and vehicle is stopping and walking constantly to switch between two states, at this moment just high driver is needed to pay attention to this vehicle
The distance between front truck, so, driver are easy to be in fatigue driving state, easily generation traffic accident.As automobile
One of key technology of safety assisting system, automatic follow the bus technology are got the attention.And how not influence vehicle automatic
Further decreasing the cost of vehicle under the premise of driving function is current urgent problem.
In the related technology, the cost of vehicle is reduced often through the mode for reducing sensor used in automatic follow the bus,
The radar sensor of detection longitudinal direction of car following distance and relative velocity is specifically used only, substitutes detection vehicle using observer
Acceleration sensor, this vehicle is based on longitudinal following distance, relative velocity and acceleration and front truck keep certain traveling away from
From.Although this mode eliminates the sensor of detection acceleration, but lower using the efficiency of observer detection acceleration, and accidentally
Difference is larger, and the safe distance of this vehicle and front truck is excessive when leading to automatic follow the bus, and follow the bus effect is poor, and traffic traffic efficiency is lower.
Summary of the invention
The embodiment of the invention provides a kind of automatic follow the bus method and devices, when can solve automatic follow the bus in the related technology
The safe distance of this vehicle and front truck is excessive, and follow the bus effect is poor, the lower problem of traffic traffic efficiency.The technical solution is such as
Under：
According to a first aspect of the embodiments of the present invention, a kind of automatic follow the bus method is provided, the method includes：
Obtain the running data of the front truck of trailer-mounted radar acquisition, the front truck and this parking stall in same lane, and with it is described
The relative distance of this vehicle is minimum；
According to the running data of the running data of the front truck and described vehicle, using nonsingular fast terminal sliding formwork control
Mode determines follow the bus control law, and the follow the bus control amount is used to indicate the travel speed of described vehicle, described vehicle and it is described before
Relationship between the relative velocity and range deviation of vehicle, the range deviation be described vehicle and the front truck it is practical away from
From the difference with described vehicle and the safe distance of the front truck；
Described vehicle traveling is controlled according to the follow the bus control law；
Wherein, the running data of the front truck includes the travel speed of the front truck and the reality of described vehicle and the front truck
Border distance, the running data of described vehicle include the travel speed of described vehicle.
Optionally, described according to the running data of the front truck and the running data of described vehicle, using it is nonsingular quickly
TSM control mode determines follow the bus control law, including：
According to the travel speed of the front truck, the safe distance is determined using Calculation of Safety Distance formula；
It determines the difference of the travel speed of the travel speed and described vehicle of the front truck, obtains the relative velocity；
The difference for determining the actual range Yu the safe distance obtains the range deviation；
According to the travel speed of the relative velocity, the range deviation and described vehicle, calculated using follow the bus control law
Formula determines the follow the bus control law；
Wherein, the safe distance formula is：ddes=τhυp+d0, the ddesFor the safe distance, the τhFor vehicle
Braking lag time, the υpFor the travel speed of the front truck, the d0Two vehicles when stopping for the front truck and described vehicle
The distance between,
The follow the bus control law calculation formula is：
The u is the follow the bus control law, and the Δ d is the range deviation, and Δ υ is the relative velocity, and the υ is
The travel speed of described vehicle, the CaFor coefficient of air resistance, the M is the quality of described vehicle, the FfFor tire rolling
Resistance, design parameter meet：1 < b < 2, a>B, c1>1,0 < c2< 1, α, β, ρ1,ρ2∈R+。
Optionally, described that described vehicle traveling is controlled according to the follow the bus control law, including：
When the follow the bus control law is less than 0, determine described vehicle driving mode be acceleration mode, and according to it is described with
Vehicle control law controls the displacement of the gas pedal of described vehicle；
When the follow the bus control law is not less than 0, determine that the driving mode of described vehicle is deceleration mode, and according to described
Follow the bus control law controls the displacement of the brake pedal of described vehicle.
Optionally, the displacement of the gas pedal that described vehicle is controlled according to the follow the bus control law, including：
According to the follow the bus control law, the target engine power of described vehicle is determined using engine moment calculation formula
Square；
Search the corresponding target accelerator open degree value of the target engine torque from the first corresponding relationship, described first pair
It should be related to the corresponding relationship for recording engine moment and accelerator open degree value；
The displacement of targets amount of the corresponding gas pedal of the target accelerator open degree value is searched from second corresponding relationship,
Second corresponding relationship is used to record the corresponding relationship of the displacement of accelerator open degree value and gas pedal；
The displacement of the gas pedal is adjusted to the displacement of targets amount of the gas pedal；
The engine moment calculation formula isWherein, the TeFor the target engine torque,
The u is the follow the bus control law, the igFor transmission gear ratio, the i0For differential mechanism speed ratio, the ηTFor power train machinery
Efficiency, the M are the quality of described vehicle, the KtFor the converter torque ratio of fluid torque-converter, the rwFor Rolling radius of driving wheel；
The displacement of the brake pedal that described vehicle is controlled according to the follow the bus control law, including：
Search the displacement of targets amount of the corresponding brake pedal of the follow the bus control law from third corresponding relationship, described
Three corresponding relationships are used to record the corresponding relationship of the displacement of follow the bus control law and brake pedal；
The displacement of the brake pedal is adjusted to the displacement of targets amount of the brake pedal.
According to a second aspect of the embodiments of the present invention, a kind of automatic follow the bus device is provided, including：
Module is obtained, the running data of the front truck for obtaining trailer-mounted radar acquisition, the front truck is with this parking stall in same
Lane, and it is minimum with the relative distance of described vehicle；
Determining module, for according to the running data of the front truck and the running data of described vehicle, using nonsingular fast
Fast TSM control mode determines follow the bus control law, and the follow the bus control amount is used to indicate the travel speed of described vehicle, institute
The relationship between Ben Che and the relative velocity and range deviation of the front truck is stated, the range deviation is described vehicle and institute
State the actual range of front truck and the difference of described vehicle and the safe distance of the front truck；
Control module, for controlling described vehicle traveling according to the follow the bus control law；
Wherein, the running data of the front truck includes the travel speed of the front truck and the reality of described vehicle and the front truck
Border distance, the running data of described vehicle include the travel speed of described vehicle.
Optionally, the determining module, is used for：
According to the travel speed of the front truck, the safe distance is determined using Calculation of Safety Distance formula；
It determines the difference of the travel speed of the travel speed and described vehicle of the front truck, obtains the relative velocity；
The difference for determining the actual range Yu the safe distance obtains the range deviation；
According to the travel speed of the relative velocity, the range deviation and described vehicle, calculated using follow the bus control law
Formula determines the follow the bus control law；
Wherein, the safe distance formula is：ddes=τhυp+d0, the ddesFor the safe distance, the τhFor vehicle
Braking lag time, the υpFor the travel speed of the front truck, the d0Two vehicles when stopping for the front truck and described vehicle
The distance between,
The follow the bus control law calculation formula is：
The u is the follow the bus control law, and the Δ d is the range deviation, and Δ υ is the relative velocity, and the υ is
The travel speed of described vehicle, the CaFor coefficient of air resistance, the M is the quality of described vehicle, the FfFor tire rolling
Resistance, design parameter meet：1 < b < 2, a>B, c1>1,0 < c2< 1, α, β, ρ1,ρ2∈R+。
Optionally, the control module, including：
First determines submodule, for when the follow the bus control law is less than 0, determining that the driving mode of described vehicle is to add
Fast mode, and control according to the follow the bus control law displacement of the gas pedal of described vehicle；
Second determines submodule, for determining that the driving mode of described vehicle is when the follow the bus control law is not less than 0
Deceleration mode, and control according to the follow the bus control law displacement of the brake pedal of described vehicle.
Optionally, it described first determines submodule, is used for：
According to the follow the bus control law, the target engine power of described vehicle is determined using engine moment calculation formula
Square；
Search the corresponding target accelerator open degree value of the target engine torque from the first corresponding relationship, described first pair
It should be related to the corresponding relationship for recording engine moment and accelerator open degree value；
The displacement of targets amount of the corresponding gas pedal of the target accelerator open degree value is searched from second corresponding relationship,
Second corresponding relationship is used to record the corresponding relationship of the displacement of accelerator open degree value and gas pedal；
The displacement of the gas pedal is adjusted to the displacement of targets amount of the gas pedal；
The engine moment calculation formula isWherein, the TeFor the target engine torque,
The u is the follow the bus control law, the igFor transmission gear ratio, the i0For differential mechanism speed ratio, the ηTFor power train machinery
Efficiency, the M are the quality of described vehicle, the KtFor the converter torque ratio of fluid torque-converter, the rwFor Rolling radius of driving wheel；
Described second determines submodule, is used for：
Search the displacement of targets amount of the corresponding brake pedal of the follow the bus control law from third corresponding relationship, described
Three corresponding relationships are used to record the corresponding relationship of the displacement of follow the bus control law and brake pedal；
The displacement of the brake pedal is adjusted to the displacement of targets amount of the brake pedal.
According to a third aspect of the embodiments of the present invention, a kind of automatic follow the bus device is provided, including：Memory, processor and
It is stored in the computer program that can be run on the memory and on the processor, the processor executes the computer
Automatic follow the bus method described in first aspect is realized when program.
According to a fourth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, in the storage medium
It is stored with computer program, automatic follow the bus method described in first aspect is realized when the computer program is executed by processor.
According to a fifth aspect of the embodiments of the present invention, a kind of computer program product comprising instruction is provided, when the meter
When calculation machine program product is run on computers, so that computer executes automatic follow the bus method described in first aspect.
Technical solution provided in an embodiment of the present invention is include at least the following beneficial effects：
Can be according to the travel speed of front truck, the travel speed of the actual range and this vehicle of Ben Che and front truck, use is non-
Unusual fast terminal sliding formwork control mode controls this vehicle traveling, this vehicle steadily quickly can follow front truck to travel.Entirely automatically with
Vehicle process is not necessarily to detect the acceleration of this vehicle, so without using observer, the peace of this vehicle and front truck when avoiding automatic follow the bus
Full distance is excessive, improves follow the bus effect, improves traffic traffic efficiency.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is implementation environment schematic diagram involved in the embodiment of the present invention；
Fig. 2 is a kind of flow chart of automatic follow the bus method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another automatic follow the bus method provided in an embodiment of the present invention；
Fig. 4 is the actual range of a kind of vehicle and front truck provided in an embodiment of the present invention and the schematic diagram of safe distance；
Fig. 5 is a kind of flow chart of determining follow the bus control law provided in an embodiment of the present invention；
Fig. 6 is a kind of flow chart of displacement for controlling this vehicle gas pedal provided in an embodiment of the present invention；
Fig. 7 is a kind of flow chart of displacement for controlling this vehicle brake pedal provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of the Longitudinal Dynamic Model of vehicle；
Fig. 9 is a kind of structural schematic diagram of automatic follow the bus device provided in an embodiment of the present invention；
Figure 10 is a kind of structural schematic diagram of control module provided in an embodiment of the present invention；
The structural schematic diagram of the automatic follow the bus device of the another kind that Figure 11 inventive embodiments provide.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 shows implementation environment schematic diagram involved in the embodiment of the present invention, which may include that traveling exists
This vehicle 01 and front truck 02 on road, the vehicle in the embodiment of the present invention is intelligent vehicle.This vehicle 01 is based on automatic follow the bus technology
Certain operating range is kept with front truck 02.
In the related technology, in order to reduce sensor used in automatic follow the bus, it is often used observer substitution detection vehicle
Acceleration sensor, this vehicle is based on longitudinal following distance, relative velocity and acceleration and front truck keep certain traveling away from
From.However use the efficiency of observer detection acceleration lower, and error is larger, the peace of this vehicle and front truck when leading to automatic follow the bus
Full distance is excessive, and follow the bus effect is poor, and traffic traffic efficiency is lower.
And in embodiments of the present invention, it can be according to the travel speed of front truck, the actual range of Ben Che and front truck, Yi Jiben
The travel speed of vehicle controls this vehicle traveling using nonsingular fast terminal sliding formwork control mode, this vehicle steadily can be followed quickly
Front truck traveling.Entire automatic follow the bus process is not necessarily to detect the acceleration of this vehicle, so without using observer, solve automatically with
The safe distance of Che Shibenche and front truck is excessive, and follow the bus effect is poor, the lower problem of traffic traffic efficiency.
Fig. 2 shows a kind of flow charts of automatic follow the bus method provided in an embodiment of the present invention, can be used on vehicle
Industrial personal computer, as shown in Fig. 2, this method includes：
Step 201, obtain trailer-mounted radar acquisition front truck running data, front truck and this parking stall in same lane, and with
The relative distance of this vehicle is minimum.
Front truck with this parking stall in same lane might have multiple, and front truck in the embodiment of the present invention is in multiple front trucks
With the smallest vehicle of relative distance of this vehicle.
Step 202, according to the running data of front truck and the running data of Ben Che, using nonsingular fast terminal sliding formwork control
Mode determines follow the bus control law, which is used to indicate the travel speed of this vehicle, the relative velocity of Ben Che and front truck, with
And the relationship between range deviation, range deviation are the difference of the safe distance of the actual range and Ben Che and front truck of Ben Che and front truck
Value.
Step 203 controls this vehicle traveling according to follow the bus control law.
Wherein, the running data of front truck includes the travel speed of front truck and the actual range of Ben Che and front truck, the row of this vehicle
Sail the travel speed that data include this vehicle.
In embodiments of the present invention, trailer-mounted radar acquires the running data of front truck in real time, and industrial personal computer can be according to vehicle-mounted thunder
Running data up to the front truck of acquisition determines follow the bus control law in real time, and controls the traveling of this vehicle.
In conclusion automatic follow the bus method provided in an embodiment of the present invention, can according to the travel speed of front truck, Ben Che with
The actual range of front truck and the travel speed of this vehicle control this vehicle traveling using nonsingular fast terminal sliding formwork control mode,
This vehicle steadily quickly can follow front truck to travel.Entire automatic follow the bus process is not necessarily to detect the acceleration of this vehicle, so without making
With observer, the safe distance of this vehicle and front truck is excessive when avoiding automatic follow the bus, improves follow the bus effect, and it is logical to improve traffic
Line efficiency.
It is accustomed to by the normal driving of driver it is found that gas pedal and brake pedal only have a generation in the same time
Effect, i.e. gas pedal work schedule move device pedal and do not work, and gas pedal does not work when brake pedal work.The present invention
The automatic follow the bus method that embodiment provides being capable of displacement according to the size of follow the bus control law to gas pedal or brake pedal
Amount is adjusted, as shown in figure 3, the automatic follow the bus method may include：
Step 301, the running data for obtaining the front truck that trailer-mounted radar acquires.
Front truck and this parking stall in same lane, and with the relative distance of this vehicle minimum.With this parking stall before same lane
Vehicle might have multiple, and front truck in the embodiment of the present invention is the smallest vehicle of relative distance in multiple front trucks with this vehicle.
Wherein, the running data of the front truck of trailer-mounted radar acquisition includes the travel speed of front truck and the reality of Ben Che and front truck
The running data of distance, this vehicle includes the travel speed of this vehicle.In embodiments of the present invention, the travel speed of front truck is denoted as
υp, the actual range of Ben Che and front truck is denoted as d, the travel speed of this vehicle is denoted as υ.
In embodiments of the present invention, trailer-mounted radar acquires the running data of front truck in real time, and industrial personal computer can be according to vehicle-mounted thunder
Running data up to the front truck of acquisition determines follow the bus control law in real time, and controls the traveling of this vehicle.
Optionally, the trailer-mounted radar for acquiring the running data of front truck can be millimetre-wave radar, and millimetre-wave radar is
The features such as a kind of radar detected in millimeter wave band that works, millimetre-wave radar have size small, high resolution, round-the-clock, energy
Enough under complicated measurement environment, the target of vehicle-surroundings is detected, accuracy is higher.Exemplary, millimetre-wave radar can
To be arranged on the front bumper of this vehicle, the actual range d of Ben Che and front truck is the rear bumper of this Chinese herbaceous peony bumper and front truck
The distance between, as shown in Figure 4.
Step 302, according to the running data of front truck and the running data of Ben Che, using nonsingular fast terminal sliding formwork control
Mode determines follow the bus control law.
The follow the bus control amount is used to indicate the travel speed of this vehicle, the relative velocity and range deviation of Ben Che and front truck
Between relationship, range deviation is the difference of the safe distance of the actual range and Ben Che and front truck of Ben Che and front truck.
Optionally, as shown in figure 5, step 302 may include：
Step 3021, the travel speed according to front truck determine safe distance using Calculation of Safety Distance formula.
Wherein, safe distance formula is：ddes=τhυp+d0, ddesFor the safe distance of Ben Che and front truck, τhFor vehicle system
Dynamic lag time, υpFor the travel speed of front truck, d0The distance between two vehicles when stopping for front truck and Ben Che.Vehicle braking is sluggish
Time τhIt refers specifically to when front truck brake is stopped and this vehicle does not slow down, this vehicle knocks the time used in front truck.This vehicle and front truck
Safe distance ddesSchematic diagram may refer to Fig. 4.
It is exemplary, τhIt can be 1.5s (second), d0Can be 5m (rice).
Step 3022 is determined the difference of the travel speed of the travel speed and this vehicle of front truck, obtains relative velocity.
Wherein, the relative velocity of Ben Che and front truckυpFor the travel speed of front truck, υ is the traveling of this vehicle
Speed.
Step 3023, the difference for determining actual range and safe distance, obtain range deviation.
Wherein, range deviationD is the actual range of Ben Che and front truck, ddesFor the peace of Ben Che and front truck
Full distance.The schematic diagram of range deviation Δ d can refer to Fig. 4.
Step 3024, according to the travel speed of relative velocity, range deviation and Ben Che, using follow the bus control law calculation formula
Determine follow the bus control law.
Follow the bus control law calculation formula is：
Wherein, u is follow the bus control law, and Δ d is range deviation, and Δ υ is relative velocity, and υ is the travel speed of this vehicle, CaFor
Coefficient of air resistance, M are the quality of this vehicle, FfFor tire drag, design parameter meets：1 < b < 2, a>B, c1>1,0 <
c2< 1, α, β, ρ1,ρ2∈R+。
It is exemplary, a=2,α=1, β=2, ρ1=2, ρ2=4, c1=2, c2=0.5.
In embodiments of the present invention, when follow the bus control law u is less than 0, industrial personal computer determines the driving mode of this vehicle to accelerate
Mode, and the displacement of the gas pedal of this vehicle is adjusted；When follow the bus control law u is not less than 0, industrial personal computer determines this vehicle
Driving mode be deceleration mode, and the displacement of the brake pedal of this vehicle is adjusted.
Step 303, when follow the bus control law is less than 0, determine that the driving mode of this vehicle is acceleration mode, and according to follow the bus control
System rule controls the displacement of the gas pedal of this vehicle.
Wherein, the displacement of the gas pedal of this vehicle is controlled in step 303 according to follow the bus control law, as shown in fig. 6, can be with
Including：
Step 3031, according to follow the bus control law, the target engine power of this vehicle is determined using engine moment calculation formula
Square.
Wherein, engine moment calculation formula isTeFor target engine torque, u is follow the bus control
Rule, igFor transmission gear ratio, i0For differential mechanism speed ratio, ηTFor mechanical efficiency of power transmission, M is the quality of this vehicle, KtFor hydraulic moment changeable
The converter torque ratio of device, rwFor Rolling radius of driving wheel.
Step 3032 searches the corresponding target accelerator open degree value of target engine torque from the first corresponding relationship.
First corresponding relationship is used to record the corresponding relationship of engine moment and accelerator open degree value.First corresponding relationship can
To be obtained according to engine speed characteristic function.Exemplary, which can be as shown in table 1, engine moment X1
Corresponding accelerator open degree value is Y1, and the corresponding accelerator open degree value of engine moment X2 is Y2, the corresponding throttle of engine moment X3
Opening value is Y3.For example, target engine torque is X1, then target accelerator open degree value is Y1.
Table 1
| Engine moment | Accelerator open degree value |
| X1 | Y1 |
| X2 | Y2 |
| X3 | Y3 |
Step 3033, the displacement of targets that the corresponding gas pedal of target accelerator open degree value is searched from the second corresponding relationship
Amount.
Second corresponding relationship is used to record the corresponding relationship of the displacement of accelerator open degree value and gas pedal.It is exemplary, it should
Second corresponding relationship can be as shown in table 2, and the displacement of the corresponding gas pedal of accelerator open degree value Y1 is L1, accelerator open degree value Y2
The displacement of corresponding gas pedal is L2, and the displacement of the corresponding gas pedal of accelerator open degree value Y3 is L3.For example, target is oily
Door opening value is Y1, then the displacement of targets amount of gas pedal is L1.
Table 2
| Accelerator open degree value | The displacement of gas pedal |
| Y1 | L1 |
| Y2 | L2 |
| Y3 | L3 |
Step 3034, the displacement of targets amount that the displacement of gas pedal is adjusted to gas pedal.
By executing step 3031 to step 3033, industrial personal computer determines the displacement of targets amount of gas pedal, passes through execution
The displacement of current time gas pedal is adjusted to the displacement of targets amount of gas pedal by this step 3034, industrial personal computer, for example,
The displacement of targets amount for the gas pedal that industrial personal computer determines in step 3033 is L1, then industrial personal computer is by current time gas pedal
Displacement is adjusted to L1, realizes the adjusting of the displacement to the gas pedal of this vehicle, makes the driving mode acceleration mode of this vehicle.
Step 304, when follow the bus control law is not less than 0, determine that the driving mode of this vehicle is deceleration mode, and according to follow the bus
Control law controls the displacement of the brake pedal of this vehicle.
Wherein, the displacement for controlling the brake pedal of this vehicle in step 304 according to follow the bus control law, as shown in fig. 7, can
To include：
Step 3041, the displacement of targets amount that the corresponding brake pedal of follow the bus control law is searched from third corresponding relationship.
Third corresponding relationship is used to record the corresponding relationship of the displacement of follow the bus control law and brake pedal.Wherein, with
The displacement of vehicle control law and brake pedal is directly proportional, i.e., follow the bus control law is bigger, and the displacement of brake pedal is bigger.
Exemplary, which can be as shown in table 3, the displacement of the corresponding brake pedal of follow the bus control law u1
Amount is N1, and the displacement of the corresponding brake pedal of follow the bus control law u2 is N2, the corresponding brake pedal of follow the bus control law u3
Displacement be N3.For example, the follow the bus control law determined in step 302 is u1, then the displacement of targets amount of brake pedal is
N1。
Table 3
| Follow the bus control law | The displacement of brake pedal |
| u1 | N1 |
| u2 | N2 |
| u3 | N3 |
Step 3042, the displacement of targets amount that the displacement of brake pedal is adjusted to brake pedal.
By executing step 3041, industrial personal computer determines the displacement of targets amount of brake pedal, by executing this step
3042, the displacement of current time brake pedal is adjusted to the displacement of targets amount of brake pedal by industrial personal computer, for example, in step
The displacement of targets amount for the brake pedal that industrial personal computer determines in rapid 3041 is N 1, then industrial personal computer steps on current time brake
The displacement of plate is adjusted to N1, realizes the adjusting of the displacement to the brake pedal of this vehicle, subtracts the driving mode of this vehicle
Fast mode.
An explanation now is done to the derivation process of follow the bus control law calculation formula by taking acceleration mode as an example.When the traveling mould of vehicle
When formula is acceleration mode, running gear input quantity is driving moment, and output quantity is the travel speed of vehicle, and considers to be hindered by air
The external environment influences such as power, tire drag and road grade resistance, the structure of the Longitudinal Dynamic Model of vehicle such as Fig. 8 institute
Show, to establish auto model, ignore the dynamic characteristic of accelerator actuating mechanism and engine, and assumes that the road of vehicle driving is water
Flat, the formula for describing longitudinal direction of car nonlinear dynamic characteristic can be such as formula (1)：
Wherein, TeFor engine moment, igFor transmission gear ratio, i0For differential mechanism speed ratio, ηTFor mechanical efficiency of power transmission, Kt
For the converter torque ratio of fluid torque-converter, rwFor Rolling radius of driving wheel, M is the quality of this vehicle, and υ is the travel speed of this vehicle, CaFor sky
Vapour lock force coefficient, FfFor tire drag.
In order to describe workshop Longitudinal Dynamical Characteristics, determine the relative velocity Δ υ's and range deviation Δ d of this vehicle and front truck
Expression formula such as formula (2)：
Wherein, υpFor the travel speed of front truck, υ is the travel speed of this vehicle, and d is the actual range of Ben Che and front truck, ddes
For the safe distance of Ben Che and front truck, which is the safe distance of this vehicle and front truck that expectation reaches.
With reference to linear spacing model in the related technology, available Calculation of Safety Distance formula (3)：
ddes=τhυp+d0 (3)
Wherein, ddesFor the safe distance of Ben Che and front truck, τhFor vehicle braking lag time, υpFor the traveling speed of front truck
Degree, d0The distance between two vehicles when stopping for front truck and Ben Che.
By the available workshop longitudinal dynamics relationship of Newton interpolation algorithmΔ d and Δ υ are asked respectively
It leads, and substitutes into formula (1), the two state car-following models based on minimum sensor are obtained, as shown in formula (4)：
Wherein,TeFor engine moment, igFor transmission gear ratio, i0For differential mechanism speed ratio, ηTFor transmission
It is mechanical efficiency, KtFor the converter torque ratio of fluid torque-converter, rwFor Rolling radius of driving wheel, M is the quality of this vehicle.Work as automobile gear level
When fixed, which is non-linear time-invariant system.For automatic follow the bus system, although vehicle needs to follow week
Collarette border constantly adjusts the travel speed of vehicle, but gearshift procedure will not occur frequently, so within considerable time, model
Parameter will not change, thus above-mentioned model can be approximately time-invariant system.
In addition, second nonlinear single-input single-output system can be indicated with formula (5)：
Wherein, x=[x1,x2]TFor system mode, f (x, t) is unknown function, indicates internal system disturbance, and u (t) is control
System input, d (t) are external disturbance.
In order to further increase system mode in the convergence rate in sliding formwork stage, and expand the selection model of design parameter
It encloses, improves the flexibility of its flexibility and controller design that design of control, the embodiment of the invention provides a kind of improved non-
Unusual fast terminal sliding formwork (nonsingular fast teminal sliding mode, NFTSM) control mode, the control
Sliding formwork hyperplane s, control law u and Reaching Law involved in modeRespectively：
Wherein, design parameter α, β, ρ1,ρ2∈R+, 1 < b < 2, a>B, c1>1,0 < c2< 1,For system
The Euclidean Norm of state variable.
It should be noted that the purpose that the follow the bus based on minimum sensor controls is in the case where front truck acceleration and deceleration, no
Acceleration information is relied on, realizes the travel speed of this vehicle to the tracking of the travel speed of front truck and the reality of Ben Che and front truck
Tracing control of the distance to desired safe distance.Due to established two states car-following model, that is, formula (4) and second nonlinear
Single-input single-output system is that (5) formula is not quite identical, therefore definesΔ υ is the opposite of Ben Che and front truck
Speed, τhFor vehicle braking lag time, υpFor the travel speed of front truck, then formula (4) can be rewritten as formula (9)：
Since front truck acceleration information lacks,WithItem is that can not survey external disturbance；SimultaneouslyIn due to includingItem cannot be obtained by trailer-mounted radar measurement, it is contemplated that in practical driving conditions, the how small acceleration fluctuation traveling of vehicle, thus
It is replaced using Δ υCarry out feedback control.Based on the improved NFTSM control mode that the embodiment of the present invention proposes, can obtain
It is to follow the bus control law calculation formula：
Wherein, s is sliding variable,U is follow the bus control law,
Δ d is range deviation, and Δ υ is relative velocity, and υ is the travel speed of this vehicle, CaFor coefficient of air resistance, M is the quality of this vehicle,
FfFor tire drag, design parameter meets：1 < b < 2, a>B, c1>1,0 < c2< 1, α, β, ρ1,ρ2∈R+。
In conclusion automatic follow the bus method provided in an embodiment of the present invention, can according to the travel speed of front truck, Ben Che with
The actual range of front truck and the travel speed of this vehicle control this vehicle traveling using nonsingular fast terminal sliding formwork control mode,
This vehicle steadily quickly can follow front truck to travel.Entire automatic follow the bus process is not necessarily to detect the acceleration of this vehicle, so without making
With observer, the safe distance of this vehicle and front truck is excessive when avoiding automatic follow the bus, improves follow the bus effect, and it is logical to improve traffic
Line efficiency.
It should be noted that the sequencing of the step of automatic follow the bus method provided in an embodiment of the present invention can be fitted
Work as adjustment, the step of automatic follow the bus method according to circumstances can also accordingly be increased and decreased.Any technology for being familiar with the art
In the technical scope disclosed by the present invention, the method that can readily occur in variation should all cover in protection scope of the present invention personnel
Within, therefore repeat no more.
Fig. 9 shows a kind of structural schematic diagram of automatic follow the bus device 800 provided in an embodiment of the present invention, as shown in figure 9,
The automatic follow the bus device 800 includes：
Module 810 is obtained, the running data of the front truck for obtaining trailer-mounted radar acquisition, front truck and this parking stall are in same vehicle
Road, and it is minimum with the relative distance of this vehicle.
Determining module 820, for according to the running data of front truck and the running data of Ben Che, using nonsingular fast terminal
Sliding formwork control mode determines follow the bus control law, which is used to indicate the travel speed of this vehicle, the phase of Ben Che and front truck
To the relationship between speed and range deviation, range deviation is the actual range and Ben Che of Ben Che and front truck and the peace of front truck
The difference of full distance.
Control module 830, for controlling this vehicle traveling according to follow the bus control law.
Wherein, the running data of front truck includes the travel speed of front truck and the actual range of Ben Che and front truck, the row of this vehicle
Sail the travel speed that data include this vehicle.
Optionally, determining module 820 are used for：
According to the travel speed of front truck, safe distance is determined using Calculation of Safety Distance formula；
It determines the difference of the travel speed of the travel speed and this vehicle of front truck, obtains relative velocity；
The difference for determining actual range and safe distance, obtains range deviation；
According to the travel speed of relative velocity, range deviation and Ben Che, follow the bus is determined using follow the bus control law calculation formula
Control law；
Wherein, safe distance formula is：ddes=τhυp+d0, ddesFor safe distance, τhFor vehicle braking lag time, υp
For the travel speed of front truck, d0The distance between two vehicles when stopping for front truck and Ben Che,
Follow the bus control law calculation formula is：
U is follow the bus control law, and Δ d is range deviation, and Δ υ is relative velocity, and υ is the travel speed of this vehicle, CaFor air
Resistance coefficient, M are the quality of this vehicle, FfFor tire drag, design parameter meets：1 < b < 2, a>B, c1>1,0 < c2<
1, α, β, ρ1,ρ2∈R+。
Optionally, as shown in Figure 10, control module 830, including：
First determines submodule 831, accelerates mould for when follow the bus control law is less than 0, determining the driving mode of this vehicle
Formula, and control according to follow the bus control law the displacement of the gas pedal of this vehicle.
Second determines submodule 832, for when follow the bus control law is not less than 0, determining the driving mode of this vehicle to slow down
Mode, and control according to follow the bus control law the displacement of the brake pedal of this vehicle.
Optionally, it first determines submodule 831, is used for：
According to follow the bus control law, the target engine torque of this vehicle is determined using engine moment calculation formula；
The corresponding target accelerator open degree value of target engine torque, first corresponding relationship are searched from the first corresponding relationship
For recording the corresponding relationship of engine moment and accelerator open degree value；
The displacement of targets amount of the corresponding gas pedal of lookup target accelerator open degree value from the second corresponding relationship, this second pair
It should be related to the corresponding relationship of the displacement for recording accelerator open degree value and gas pedal；
The displacement of gas pedal is adjusted to the displacement of targets amount of gas pedal；
Engine moment calculation formula isWherein, TeFor target engine torque, u is follow the bus control
Rule, igFor transmission gear ratio, i0For differential mechanism speed ratio, ηTFor mechanical efficiency of power transmission, M is the quality of this vehicle, KtFor hydraulic moment changeable
The converter torque ratio of device, rwFor Rolling radius of driving wheel.
Second determines submodule 832, is used for：
The displacement of targets amount of the corresponding brake pedal of follow the bus control law is searched from third corresponding relationship, the third is corresponding
Relationship is used to record the corresponding relationship of the displacement of follow the bus control law and brake pedal；
The displacement of brake pedal is adjusted to the displacement of targets amount of brake pedal.
In conclusion automatic follow the bus device provided in an embodiment of the present invention, can according to the travel speed of front truck, Ben Che with
The actual range of front truck and the travel speed of this vehicle control this vehicle traveling using nonsingular fast terminal sliding formwork control mode,
This vehicle steadily quickly can follow front truck to travel, without detecting the acceleration of this vehicle, so avoiding certainly without using observer
The safe distance of this vehicle and front truck is excessive when dynamic follow the bus, improves follow the bus effect, improves traffic traffic efficiency.
The embodiment of the invention also provides another automatic follow the bus devices 900, as shown in figure 11, the automatic follow the bus device
900 include：Memory 910, processor 920 and is stored in the computer journey that can be run on memory 910 and on processor 920
Sequence 911, processor 920 realize automatic follow the bus method provided by the above embodiment when executing computer program 911, and this method can be with
As shown in Figure 2 or Figure 3.
The embodiment of the present invention also provides a kind of computer readable storage medium, which is non-volatile readable storage
Medium is stored with computer program in the storage medium, which realizes that above-described embodiment mentions when being executed by processor
The automatic follow the bus method supplied.
The embodiment of the present invention also provides a kind of computer program product comprising instruction, when the computer program product is being counted
When being run on calculation machine, so that computer executes automatic follow the bus method provided by the above embodiment.
The embodiment of the present invention also provides a kind of chip, which includes programmable logic circuit and/or program instruction, works as core
For executing automatic follow the bus method provided by the above embodiment when piece is run.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It, can be no longer superfluous herein with reference to the specific work process with reference to each step in embodiment of the method with the specific work process of module
It states.
Those skilled in the art will readily occur to of the invention its after considering specification and the invention invented here of practice
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of automatic follow the bus method, which is characterized in that the method includes：
Obtain the running data of the front truck of trailer-mounted radar acquisition, the front truck and this parking stall in same lane, and with described vehicle
Relative distance it is minimum；
According to the running data of the running data of the front truck and described vehicle, using nonsingular fast terminal sliding formwork control mode
Determine follow the bus control law, the follow the bus control amount is used to indicate the travel speed of described vehicle, described vehicle and the front truck
Relationship between relative velocity and range deviation, the range deviation be described vehicle and the front truck actual range and
The difference of the safe distance of described vehicle and the front truck；
Described vehicle traveling is controlled according to the follow the bus control law；
Wherein, the running data of the front truck include the front truck travel speed and described vehicle and the front truck it is practical away from
From the running data of described vehicle includes the travel speed of described vehicle.
2. the method according to claim 1, wherein the running data and described vehicle according to the front truck
Running data, follow the bus control law is determined using nonsingular fast terminal sliding formwork control mode, including：
According to the travel speed of the front truck, the safe distance is determined using Calculation of Safety Distance formula；
It determines the difference of the travel speed of the travel speed and described vehicle of the front truck, obtains the relative velocity；
The difference for determining the actual range Yu the safe distance obtains the range deviation；
According to the travel speed of the relative velocity, the range deviation and described vehicle, using follow the bus control law calculation formula
Determine the follow the bus control law；
Wherein, the safe distance formula is：ddes=τhυp+d0, the ddesFor the safe distance, the τhFor vehicle system
Dynamic lag time, the υpFor the travel speed of the front truck, the d0When stopping for the front truck and described vehicle between two vehicles
Distance,
The follow the bus control law calculation formula is：
The u is the follow the bus control law, and the Δ d is the range deviation, and Δ υ is the relative velocity, and the υ is described
The travel speed of this vehicle, the CaFor coefficient of air resistance, the M is the quality of described vehicle, the FfIt rolls and hinders for tire
Power, design parameter meet：1 < b < 2, a>B, c1>1,0 < c2< 1, α, β, ρ1,ρ2∈R+。
3. the method according to claim 1, wherein described control described garage according to the follow the bus control law
It sails, including：
When the follow the bus control law is less than 0, determine that the driving mode of described vehicle is acceleration mode, and according to the follow the bus control
The displacement of the gas pedal of system rule described vehicle of control；
When the follow the bus control law is not less than 0, determine that the driving mode of described vehicle is deceleration mode, and according to the follow the bus
Control law controls the displacement of the brake pedal of described vehicle.
4. according to the method described in claim 3, it is characterized in that, described control described vehicle according to the follow the bus control law
The displacement of gas pedal, including：
According to the follow the bus control law, the target engine torque of described vehicle is determined using engine moment calculation formula；
The corresponding target accelerator open degree value of the target engine torque, the described first corresponding pass are searched from the first corresponding relationship
It is the corresponding relationship for recording engine moment and accelerator open degree value；
The displacement of targets amount of the corresponding gas pedal of the target accelerator open degree value is searched from second corresponding relationship, it is described
Second corresponding relationship is used to record the corresponding relationship of the displacement of accelerator open degree value and gas pedal；
The displacement of the gas pedal is adjusted to the displacement of targets amount of the gas pedal；
The engine moment calculation formula isWherein, the TeFor the target engine torque, the u
For the follow the bus control law, the igFor transmission gear ratio, the i0For differential mechanism speed ratio, the ηTFor mechanical efficiency of power transmission,
The M is the quality of described vehicle, the KtFor the converter torque ratio of fluid torque-converter, the rwFor Rolling radius of driving wheel；
The displacement of the brake pedal that described vehicle is controlled according to the follow the bus control law, including：
The displacement of targets amount of the corresponding brake pedal of the follow the bus control law, the third pair are searched from third corresponding relationship
It should be related to the corresponding relationship of the displacement for recording follow the bus control law and brake pedal；
The displacement of the brake pedal is adjusted to the displacement of targets amount of the brake pedal.
5. a kind of automatic follow the bus device, which is characterized in that including：
Obtain module, the running data of the front truck for obtaining trailer-mounted radar acquisition, the front truck and this parking stall in same lane,
And it is minimum with the relative distance of described vehicle；
Determining module, for according to the running data of the front truck and the running data of described vehicle, using nonsingular quick end
End sliding formwork control mode determines follow the bus control law, and the follow the bus control amount is used to indicate the travel speed of described vehicle, described
Relationship between vehicle and the relative velocity and range deviation of the front truck, before the range deviation is described vehicle and is described
The difference of the safe distance of the actual range of vehicle and described vehicle and the front truck；
Control module, for controlling described vehicle traveling according to the follow the bus control law；
Wherein, the running data of the front truck include the front truck travel speed and described vehicle and the front truck it is practical away from
From the running data of described vehicle includes the travel speed of described vehicle.
6. device according to claim 5, which is characterized in that the determining module is used for：
According to the travel speed of the front truck, the safe distance is determined using Calculation of Safety Distance formula；
It determines the difference of the travel speed of the travel speed and described vehicle of the front truck, obtains the relative velocity；
The difference for determining the actual range Yu the safe distance obtains the range deviation；
According to the travel speed of the relative velocity, the range deviation and described vehicle, using follow the bus control law calculation formula
Determine the follow the bus control law；
Wherein, the safe distance formula is：ddes=τhυp+d0, the ddesFor the safe distance, the τhFor vehicle system
Dynamic lag time, the υpFor the travel speed of the front truck, the d0When stopping for the front truck and described vehicle between two vehicles
Distance,
The follow the bus control law calculation formula is：
The u is the follow the bus control law, and the Δ d is the range deviation, and Δ υ is the relative velocity, and the υ is described
The travel speed of this vehicle, the CaFor coefficient of air resistance, the M is the quality of described vehicle, the FfIt rolls and hinders for tire
Power, design parameter meet：1 < b < 2, a>B, c1>1,0 < c2< 1, α, β, ρ1,ρ2∈R+。
7. device according to claim 5, which is characterized in that the control module, including：
First determines submodule, accelerates mould for when the follow the bus control law is less than 0, determining the driving mode of described vehicle
Formula, and control according to the follow the bus control law displacement of the gas pedal of described vehicle；
Second determines submodule, for when the follow the bus control law is not less than 0, determining the driving mode of described vehicle to slow down
Mode, and control according to the follow the bus control law displacement of the brake pedal of described vehicle.
8. device according to claim 7, which is characterized in that described first determines submodule, is used for：
According to the follow the bus control law, the target engine torque of described vehicle is determined using engine moment calculation formula；
The corresponding target accelerator open degree value of the target engine torque, the described first corresponding pass are searched from the first corresponding relationship
It is the corresponding relationship for recording engine moment and accelerator open degree value；
The displacement of targets amount of the corresponding gas pedal of the target accelerator open degree value is searched from second corresponding relationship, it is described
Second corresponding relationship is used to record the corresponding relationship of the displacement of accelerator open degree value and gas pedal；
The displacement of the gas pedal is adjusted to the displacement of targets amount of the gas pedal；
The engine moment calculation formula isWherein, the TeFor the target engine torque, the u
For the follow the bus control law, the igFor transmission gear ratio, the i0For differential mechanism speed ratio, the ηTFor mechanical efficiency of power transmission,
The M is the quality of described vehicle, the KtFor the converter torque ratio of fluid torque-converter, the rwFor Rolling radius of driving wheel；
Described second determines submodule, is used for：
The displacement of targets amount of the corresponding brake pedal of the follow the bus control law, the third pair are searched from third corresponding relationship
It should be related to the corresponding relationship of the displacement for recording follow the bus control law and brake pedal；
The displacement of the brake pedal is adjusted to the displacement of targets amount of the brake pedal.
9. a kind of automatic follow the bus device, which is characterized in that including：Memory, processor and is stored on the memory and can
The computer program run on the processor, the processor realize Claims 1-4 when executing the computer program
Any automatic follow the bus method.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Claims 1-4 any automatic follow the bus method is realized when computer program is executed by processor.
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