CN109532833B - Adaptive cruise system overbending control method and computer readable storage medium - Google Patents
Adaptive cruise system overbending control method and computer readable storage medium Download PDFInfo
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- 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
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Abstract
The invention discloses an over-bending control method of an adaptive cruise system and a computer readable storage medium, which comprise target detection and screening, over-bending longitudinal vehicle speed control and over-bending steering control. The invention can improve the safety, comfort and rapidity of the adaptive cruise system in the process of bending.
Description
Technical Field
The invention belongs to the technical field of automobile active safety systems, and particularly relates to an adaptive cruise system bending control method and a computer readable storage medium.
Background
With the development of automobile intelligent technology, people pay more and more attention to the comfort and safety of automobile driving, and the generated intelligent driving technology becomes more and more the main attack direction of the development of automobile industry. The intelligent driving technology mainly adopts specific technologies (including sensor technology, signal processing technology, communication technology and computer technology) to identify the environment and state of the vehicle, receive and process information of each sensor, make analysis and judgment, improve driving comfort and reduce danger caused by some emergency situations in the driving process.
An adaptive cruise control system (hereinafter referred to as "ACC") is an important component of an intelligent driving system, and is an upgrade of a conventional constant-speed cruise control system, which can adaptively perform acceleration and deceleration control by allowing a vehicle to keep a speed set by a driver (hereinafter referred to as "desired vehicle speed") or allowing the vehicle and a preceding vehicle to keep a time distance set by the driver (hereinafter referred to as "inter-vehicle time distance") to follow a preceding vehicle target. Currently, adaptive cruise system control vehicle speed may extend to the entire vehicle speed range from 0.
At present, two logic control schemes of the main adaptive cruise system are available, one scheme is a cruise control logic for realizing the basis by a single radar scheme, and the other scheme is a cruise control logic for realizing more accurate control by a radar and camera fusion scheme. In the two implementation modes, a sensor is used for detecting target information of a tracked object, and then a certain algorithm is combined for controlling the vehicle speed. The straight-way car following for the expressway and the expressway can play a good role, but the comfort and the safety can be reduced to a great extent under the car following condition for the bend. The reason for this is that, during the following cruising at a curve, the vehicle ahead may lose the target due to the curve, and at this time, if the vehicle does not recognize a new following target and the cruising speed set by the driver is relatively high, a rapid acceleration may occur, which may be extremely dangerous in some cases. In addition, when the driver is not focused for a short time, the steering wheel is not timely operated to perform steering control in the turning process, the vehicle may deviate from a normal lane and drive to an adjacent lane, and under the working condition, the vehicle may collide with the adjacent lane.
For the above situations, considering safety, comfort and rapidity, it is very important to design a curve control logic for improving the overall performance of the adaptive cruise system.
Disclosure of Invention
The invention aims to provide an adaptive cruise system over-bending control method and a computer readable storage medium, so as to improve the safety, comfort and rapidity of the adaptive cruise system in the over-bending process.
The invention discloses an over-bending control method of a self-adaptive cruise system, which comprises the following steps of:
target detection and screening:
during the process of passing through the curve, judging whether a front vehicle tracked by the vehicle is always kept in the field of view of the vehicle, if so, determining that the vehicle does not switch a front following target; if not, detecting whether a new target exists in a lane beside the vehicle; if no new target is detected, judging that no available following target exists in front; if a new target is detected, judging whether the new target can be used as a new car following target or not;
controlling the longitudinal vehicle speed in the over-bending direction:
in response to the fact that the tracked front vehicle of the vehicle is always kept within the visual field range of the vehicle, the vehicle is controlled to drive along the curve of the front vehicle at the curve passing speed V which is Min (the tracked front vehicle speed, the curve speed limit value and the set cruising vehicle speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and no new vehicle following target is identified, controlling the vehicle to drive in a curve passing mode with the curve passing speed V being Min (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the maximum curve passing speed value of the vehicle and the set cruising speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and a new following target is identified, controlling the vehicle to drive to turn along with the new following target by the turning speed V (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the newly identified speed value of the following target, the maximum turning speed value of the vehicle and the set cruising speed of the vehicle);
and (3) over-bending steering control:
and if the over-bending speed of the vehicle is smaller than the over-bending maximum speed limit, calculating an over-bending torque value according to the curvature of the curve and the over-bending speed of the vehicle, outputting the over-bending torque value to an electronic power steering system, performing corresponding steering control, and ensuring that the distance dis of the vehicle from the edge of the lane is greater than a preset threshold value in the steering process so as to ensure that the vehicle is always positioned in the lane.
Further, when the front vehicle tracked by the vehicle is out of the field of view of the vehicle and a new target is detected in the adjacent lane, the parameter d is obtainedycD, and θ, wherein: dycThe offset distance of the new target relative to the central axis of the vehicle; d is the actual distance between the vehicle and the new target; theta is the deviation angle of the new target relative to the central axis of the vehicle;
and according to the parameter dycD and θ calculate dyWherein d isyA lateral distance deviation between the predicted trajectory profile for the host vehicle and the new target actually detected; the transverse distance is the distance between a trajectory curve in the transverse direction of the vehicle coordinate system of the vehicle and a new target by taking the vehicle coordinate system of the vehicle as a reference;
if only a new target is detected, dyComparing with a threshold Th if dy<Th, judging that the new target is in the optional following target range and serving as the new following target, and if dyIf the current vehicle-following target is not recognized, judging that no available vehicle-following target exists in the front, namely, a new vehicle-following target is not recognized;
if multiple new targets are detected simultaneously, then the minimum d is takenyThe value is compared with a threshold Th if dy<Th, then the minimum d is determinedyIf d is the new car-following target, the new target corresponding to the value is the new car-following targetyAnd if the current vehicle-following target is more than or equal to Th, judging that no available vehicle-following target exists in the front, namely identifying a new vehicle-following target.
Further, dyThe calculation method of (2) is as follows:
dy＝dyv+dyc；
dyc＝d*sinθ；
dyv＝ky*d2/2；
wherein d isyvAn offset distance of the predicted trajectory relative to a central axis of the vehicle; k is a radical ofyRepresenting the curvature of the driving trajectory.
Further, when the current vehicle disappears, the instant speed of the vehicle is greater than the maximum over-bending speed value of the vehicle, the current over-bending longitudinal acceleration of the vehicle is controlled to be less than or equal to 0, and the instant speed of the vehicle when the current vehicle disappears is renewed to be the maximum over-bending speed value of the vehicle.
Further, the method further comprises the following step of judging the curve:
and acquiring lane information, judging whether the vehicle enters a curve according to the lane information, and if so, entering target detection and screening.
A computer readable storage medium of the present invention stores one or more programs, which are executable by one or more processors, to implement the steps of the adaptive cruise system overbending control method according to the present invention.
The invention has the following advantages: in the process of passing a curve, if the front vehicle disappears in the sight line of the vehicle and vehicles meeting the vehicle following targets exist in the adjacent lanes, the new vehicle following targets can be quickly identified; meanwhile, the over-bending speed is effectively controlled, so that the situation of rapid acceleration possibly caused by target loss, no new vehicle following target identification and high cruising speed set by a driver can be effectively avoided, the over-bending performance of the self-adaptive cruise system is improved, and the safety, the comfort and the rapidity in the over-bending process are ensured.
Drawings
FIG. 1 is a schematic diagram of the ACC system of the present invention;
FIG. 2 is a main flow diagram of the present invention;
FIG. 3 is a functional block diagram of the present invention;
FIG. 4 is a flow chart of a curve tracked object determination of the present invention;
FIG. 5 is a schematic view of a following curve passing scene according to the present invention;
FIG. 6 is a longitudinal control flow diagram of the present invention;
FIG. 7 is a lateral control diagram of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 2, the method for controlling the overshoot of the adaptive cruise system according to the present invention includes the following steps:
judging a curve:
and acquiring lane information, and judging whether the vehicle enters the curve or not according to the lane information.
Target detection and screening:
during the process of passing through the curve, judging whether a front vehicle tracked by the vehicle is always kept in the field of view of the vehicle, if so, determining that the vehicle does not switch a front following target; if not, detecting whether a new target exists in a lane beside the vehicle; if no new target is detected, judging that no available following target exists in front; if a new target is detected, judging whether the new target can be used as a new car following target or not;
controlling the longitudinal vehicle speed in the over-bending direction:
in response to the fact that the tracked front vehicle of the vehicle is always kept within the visual field range of the vehicle, the vehicle is controlled to drive along the curve of the front vehicle at the curve passing speed V which is Min (the tracked front vehicle speed, the curve speed limit value and the set cruising vehicle speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and no new vehicle following target is identified, controlling the vehicle to drive in a curve passing mode with the curve passing speed V being Min (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the maximum curve passing speed value of the vehicle and the set cruising speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and a new following target is identified, controlling the vehicle to drive to turn along with the new following target by the turning speed V (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the newly identified speed value of the following target, the maximum turning speed value of the vehicle and the set cruising speed of the vehicle);
and (3) over-bending steering control:
and if the over-bending speed of the vehicle is smaller than the over-bending maximum speed limit, calculating an over-bending torque value according to the curvature of the curve and the over-bending speed of the vehicle, outputting the over-bending torque value to an electronic power steering system, performing corresponding steering control, and ensuring that the distance dis of the vehicle from the edge of the lane is greater than a preset threshold value in the steering process so as to ensure that the vehicle is always positioned in the lane.
As shown in fig. 1, in the present embodiment, the adaptive cruise system includes:
epbi (integrated Electric park brake), integrated electronic Parking brake;
srs (supplemental Restraint system), airbag system;
a TCU (Transmission Control Unit), a transmission Control unit;
eps (electronic Power steering), electric Power steering;
HU (head Unit), vehicle entertainment system base terminal;
bcm (body Control module), body Control module;
gw (gateway), gateway;
l CM (L light Control Module), light controller;
ip (instrument panel), meter;
l AS (L ane assist System), lane assist System;
acc (adaptive Cruise control) adaptive Cruise control;
EPBi, SRS, TCU, EPS, EMS and ACC are respectively connected with PCAN bus, ACC is connected with L AS through private CAN, HU is connected with InfoCAN bus, BCM, L CM and IP are respectively connected with BCAN bus, L AS is connected with SafeCAN bus, and PCAN bus, InfoCAN bus, SafeCAN bus and BCAN communicate through GW respectively.
As shown in fig. 2, in the present embodiment, in order to improve the over-bending performance of the adaptive cruise system, safety, comfort and rapidity during the over-bending process are ensured. A system for improving the overbending performance of an adaptive cruise system is designed, the system comprising: the system comprises an information sensing unit, an information decision unit and an information execution unit.
The information perception unit comprises a target detection module, a vehicle information monitoring module and a steering control monitoring module, wherein the target detection module is used for acquiring motion state information and road information of a vehicle and a front vehicle. The vehicle information monitoring module acquires vehicle motion related information of the vehicle. The steering control monitoring module is used for acquiring whether the steering wheel has steering angle information or not.
The information decision unit decides the information of the expected acceleration, the expected speed and the torque of the vehicle according to the information obtained by the information sensing unit. The information decision mainly refers to a central processing unit, and the central processing unit in the embodiment utilizes an existing sensor central processing unit on the vehicle to perform horizontal and vertical control. In the longitudinal control process, the central processing unit is a radar control processor (namely R-ECU), and in the transverse control process, the central processing unit is a forward-looking camera control processor (namely V-ECU).
The information execution unit comprises a vehicle speed control execution module and a steering control execution module, and is used for executing longitudinal and transverse bending control based on the expected acceleration, the expected speed and the torque information output by the information decision unit. The information execution means that the execution mechanism converts information such as expected acceleration, expected speed and torque information into executable values of the vehicle through the automobile inverse dynamic model and outputs the executable values to the execution unit of the associated system. The execution units (generally, vehicle speed control, steering control and alarm modules, such as an integrated electronic parking brake, an electric power steering system, an engine management system, an instrument and the like) respectively perform transverse and longitudinal control.
In this embodiment, the object detection module includes a forward-looking camera front-end detection module (i.e., a V-detector) and a radar front-end detection module (i.e., an R-detector).
The radar front-end detection module is used for detecting car-following targets in front of the current lane and adjacent lanes, preprocessing corresponding effective target objects and sending corresponding target object preprocessing information to the radar control processor; the radar control processor judges whether a detected object (namely a new target) is an available effective target tracking object (namely a new tracking object) according to a certain algorithm, and stores corresponding vehicle information values (comprising a relative longitudinal distance, a transverse distance, a relative speed and the like) of the detected object.
The front-end detection module of the front-looking camera is used for identifying the type, the transverse distance, the lane line information, the transverse distance between the vehicle and the lane line, the curvature of a curve in the driving process of the vehicle and the information of a curve speed limit board, preprocessing the identification result and outputting the corresponding preprocessed information of the target object to the camera control processor in real time.
In this embodiment, the vehicle information monitoring module is an integrated electronic parking brake, and is configured to detect a current driving state value of the vehicle in real time, and provide current instant speed, acceleration, yaw rate, and wheel speed information of the vehicle.
In this embodiment, the steering control monitoring module is a steering wheel hand torque sensor, and is configured to monitor a steering wheel control state in real time, and output steering wheel control information to the camera control processor, and is configured to determine whether a driver has an active steering wheel take-over function for steering control.
In this embodiment, the radar control processor is located inside the radar assembly, and mainly controls the longitudinal vehicle speed when the vehicle passes a curve to ensure that uncomfortable rapid acceleration does not occur, and includes receiving curve information, lane line information, following target information, a curve speed limit value detected by the forward-looking camera front-end detection module, and real-time vehicle speed, acceleration and yaw rate input by the EPBi, and calculating an appropriate speed when the vehicle passes a curve by integrating the following target information detected by the radar front-end detection module inside the vehicle. The camera control processor is positioned in the camera assembly and mainly used for controlling the transverse torque of the vehicle passing through the curve to ensure that the proper torque is comfortable to pass through the curve. And then, calculating the output longitudinal over-bending speed value by combining a radar control processor, judging whether the speed value exceeds the maximum over-bending speed value of the vehicle specified by the system, and determining whether to intervene in transverse control. If the condition display system can be used for the intervention of transverse control, the camera control processor calculates a proper transverse over-bending torque value and outputs the value to the electronic power steering system to execute the turning control.
In this embodiment, the longitudinal control of the overbending includes:
the front-end detection module of the front-view camera detects lane information (including lane line and following target information, curve curvature, roadside speed-limiting signboard, distance between a vehicle and the lane line and other information), outputs the lane information to the camera control processor and the radar control processor, judges whether the current vehicle enters the curve or not by the camera control processor, and outputs the judgment result to the radar control processor; meanwhile, the radar front-end detection module inputs the detected information (including relative longitudinal distance, transverse distance, relative speed and the like) of the vehicle target in front of the vehicle to the radar control processor.
The radar control processor is combined with the front-end detection module of the front-looking camera and the front-end detection module of the radar to receive input target detection information, and is combined with the curve curvature information input by the camera control processor to screen out a new following target of the vehicle.
As shown in fig. 3, the following detailed description of the method for controlling the overbending of the adaptive cruise system according to the present invention with reference to the system for improving the overbending performance of the adaptive cruise system includes the following steps:
judging a curve:
the front-view camera front-end detection module is used for detecting lane information (including lane line and following target information, curve curvature, roadside speed-limiting signboard, distance between a vehicle and the lane line and other information) and outputting the lane information to the camera control processor and the radar front-end detection module, the camera control processor judges whether the current vehicle enters a curve or not and outputs a judgment result to the radar front-end detection module;
target detection and screening:
in the process of passing through a curve, when the front-end detection module of the radar and the front-end detection module of the front-looking camera detect that a front vehicle tracked by the vehicle is always kept in the field of view of the vehicle, the radar control processor judges that the vehicle does not switch a front following target;
in the process of passing through a curve, when the front-end detection module of the radar and the front-end detection module of the forward-looking camera detect that a front vehicle tracked by the vehicle disappears in the field of view of the vehicle, and the front-end detection module of the radar and the front-looking camera detect that no new trackable target vehicle exists in a lane beside the vehicle, the radar control processor judges that no available following target exists in front of the vehicle;
in the process of passing through a curve, when the front-end detection module of the radar and the front-end detection module of the forward-looking camera detect that a front vehicle tracked by the vehicle disappears in the field of view of the vehicle and simultaneously detect that a new vehicle possibly invades into a lane beside the vehicle to be used as a new target tracked by the vehicle, the radar control processor judges whether the new target can be used as a new tracking object; if the new target is in the selectable car following object range, taking the new target as a new car following target; if the new target is not in the range of the selectable car following objects, the radar control processor judges that no available car following target exists in front;
as shown in fig. 4 and 5, in the present embodiment, the method for the radar control processor to determine whether the new target can be used as a new following target is as follows:
first, the deviation d of the path with the predicted object is calculatedy：
dy＝dyv+dyc(formula one);
dycd sin θ (formula two);
dyv＝ky*d22 (formula three);
from equation (one) to equation (three): dy＝ky*d2/2+d*sinθ。
Wherein d isyvAn offset distance of the predicted trajectory relative to a central axis of the vehicle; dycThe offset distance of the new target relative to the central axis of the vehicle; the front-end detection module of the front-view camera detects the front-end detection of the front-view camera; d is the actual distance between the vehicle and the new target, and is detected by a radar front-end detection module; theta is the deviation angle of the new target relative to the central axis of the vehicle, and is detected by a front-view camera front-end detection module, kyRepresents the curvature of the driving track (i.e. the ratio of the yaw rate to the current driving speed); a is a predicted trajectory curve; b is a central axis of the vehicle; dyA deviation of the path with the predicted object (the value of which represents the deviation of the lateral distance between the predicted path of the vehicle and the actually detected object); the transverse distance is the distance between a trajectory curve in the transverse direction of the vehicle coordinate system of the vehicle and a new target by taking the vehicle coordinate system of the vehicle as a reference;
then comparing, if only one new target is detected, dyComparing with threshold Th (obtained by multiple experimental calibration), if dy<Th, determining the new target in the optional following target range and using the new target as the new following target, and if dyIf the current vehicle tracking target is more than or equal to Th, the radar control processor judges that no available vehicle tracking target exists in the front; if multiple new targets are detected simultaneously, then the minimum d is takenyThe value is compared with a threshold Th if dy<Th, then determining the minimum dyIf d is the new car-following target, the new target corresponding to the value is the new car-following targetyAnd if the current position is more than or equal to Th, the radar control processor judges that no vehicle following target is available in front.
Controlling the longitudinal vehicle speed in the over-bending direction:
if the camera control processor detects that the driver takes over the action of the steering wheel, the camera control processor judges that the system is not involved in the bending steering control, and the radar control processor controls the longitudinal speed of the vehicle according to the bending steering control; the method specifically comprises the following steps:
in the process of passing through a curve, if the front-end detection module monitors that a front vehicle tracked by the vehicle is always kept in the field of view of the vehicle, the radar control processor controls the vehicle to drive along the curve of the front vehicle by the curve passing speed V (the tracked speed of the front vehicle, the speed limit value of the curve and the set cruising speed of the vehicle); if the situation that a front vehicle followed by the vehicle disappears and a new vehicle following target is not identified is monitored in the process of passing a curve, the radar control processor controls the vehicle to run in the curve with the passing vehicle speed V being Min (the instant speed of the vehicle when the front vehicle disappears, the speed limit value of the curve, the maximum passing curve speed value of the vehicle and the set cruising speed of the vehicle); if the radar front end detection module detects that the front vehicle disappears, and meanwhile, the radar front end detection module confirms that the vehicles in the adjacent lane are identified as new car-following targets, the radar front end detection module controls the car to drive to pass through a curve along with the new car-following targets by the way that the speed V of the car passing through the curve is Min (the instant speed of the car when the front vehicle disappears, the speed limit value of the curve, the newly identified car-following target speed value, the maximum speed value of the car passing through the curve and the set cruising speed of the car).
As shown in fig. 5 and fig. 6, the following describes the control of vehicle speed in the longitudinal direction of a curve by taking an example, where object 1 represents a preceding vehicle tracked by the own vehicle (located in the same lane as the own vehicle), object 2 represents a preceding vehicle detected in a neighboring lane of the own vehicle, and object 3 represents the own vehicle.
When the radar control processor judges that the vehicle does not switch the front following target in the process of passing through the curve, the vehicle passing through the curve speed V is Min (V)0，V1，V3') to a host; wherein, V0The front-view camera front-end detection module detects the curve speed limit value (such as the speed limit value on a speed limit board), V1For tracking front vehicle speed, V3' A cruising vehicle speed is set for the host vehicle.
When the front vehicle tracked by the vehicle disappears and the radar control processor judges that the new target is in the range of the selectable vehicle following object and takes the new target as the new vehicle following target in the process of passing through the curve, the vehicle passes through the curveVehicle speed V ═ Min (V)0,V2,V3’，V3，Vmax) (ii) a Wherein, V2A vehicle speed value representing a new following target; v3The instant speed of the vehicle when the front vehicle disappears; vmaxIs the maximum over-bending speed value of the host vehicle,
wherein, amaxRepresents the maximum lateral acceleration, provided by EPBi; and k represents the curvature of the curve and is provided by the front-end detection module of the front-looking camera.
When the radar control processor judges that no following target is available ahead during passing through the curve, the vehicle passing through the curve has the speed V equal to Min (V)0,Vmax,V3,V3’)。
In this embodiment, in order to avoid the occurrence of sudden over-bending acceleration, when the front vehicle disappears, the instant speed of the vehicle is greater than the maximum over-bending speed value (i.e. V) of the vehicle3＞Vmax) Then the current over-bending longitudinal acceleration a of the vehicle is controlledxLess than or equal to 0, and the instant speed of the vehicle when the vehicle before the vehicle disappears is renewed to be equal to the maximum over-bending speed value (V) of the vehicle3＝Vmax)。
And (3) over-bending steering control: as shown in fig. 7, in the process of bending, in response to the system detecting that the driver takes over the action of the steering wheel, the system does not perform transverse control, but only performs longitudinal control speed limiting. Responding to the situation that the system monitors that the driver of the vehicle does not take any take-over action, performing longitudinal bending control by the radar control processor, sending the calculated bending speed of the vehicle to the camera control processor, judging whether the bending speed V is within the maximum bending speed limit range or not by the camera control processor, if the bending speed V is smaller than the maximum bending speed limit range, calculating a bending torque value F by the camera control processor according to the curvature k of the curve and the bending speed V of the vehicle, outputting the bending torque value F to the electronic power-assisted steering system, performing corresponding steering control, and ensuring that the distance dis from the vehicle to the edge of the lane is greater than a preset threshold (the set threshold can be calibrated) in the steering process so as to ensure that the vehicle is positioned in the lane and can smoothly pass through the curve all the time.
Steering take-over prompting: if the camera control processor judges that the over-bending speed is too high to exceed the over-bending maximum speed limit range, longitudinal control is carried out within the over-bending maximum speed limit range, and corresponding prompt information is output to the instrument to prompt a driver to take over the steering control of the vehicle.
In the embodiment, the method for calculating the over-bending torque value F is as follows;
since, F ═ b × m × (formula four);
a＝k*V2(formula five);
so, according to formula four and formula five, it can be derived: f ═ b ═ m ═ k ═ V2；
Wherein, F represents the over-bending torque value, b is an environmental influence factor (including ground adhesion, curve lane line, etc.); m is the total vehicle mass, k is the curve curvature, which is provided by the front-view camera front-end detection module, a represents the instant acceleration, and V is the curve passing speed of the vehicle.
In the embodiment, a is obtained by calculating the bending speed V and the curvature k of the curve, and axA longitudinal acceleration of a, ayIs the lateral acceleration of a.
A computer readable storage medium of the present invention stores one or more programs, which are executable by one or more processors, to implement the steps of the adaptive cruise system overbending control method according to the present invention.
Claims (6)
1. The over-bending control method of the adaptive cruise system is characterized by comprising the following steps of: the method comprises the following steps:
target detection and screening:
during the process of passing through the curve, judging whether a front vehicle tracked by the vehicle is always kept in the field of view of the vehicle, if so, determining that the vehicle does not switch a front following target; if not, detecting whether a new target exists in a lane beside the vehicle; if no new target is detected, judging that no available following target exists in front; if a new target is detected, judging whether the new target can be used as a new car following target or not;
controlling the longitudinal vehicle speed in the over-bending direction:
in response to the fact that the tracked front vehicle of the vehicle is always kept within the visual field range of the vehicle, the vehicle is controlled to drive along the curve of the front vehicle at the curve passing speed V which is Min (the tracked front vehicle speed, the curve speed limit value and the set cruising vehicle speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and no new vehicle following target is identified, controlling the vehicle to drive in a curve passing mode with the curve passing speed V being Min (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the maximum curve passing speed value of the vehicle and the set cruising speed of the vehicle);
in response to that a preceding vehicle tracked by the vehicle is out of the field of view of the vehicle and a new following target is identified, controlling the vehicle to drive to turn along with the new following target by the turning speed V (the instant speed of the vehicle when the preceding vehicle disappears, the speed limit value of the curve, the newly identified speed value of the following target, the maximum turning speed value of the vehicle and the set cruising speed of the vehicle);
and (3) over-bending steering control:
and if the over-bending speed of the vehicle is smaller than the over-bending maximum speed limit, calculating an over-bending torque value according to the curvature of the curve and the over-bending speed of the vehicle, outputting the over-bending torque value to an electronic power steering system, performing corresponding steering control, and ensuring that the distance dis of the vehicle from the edge of the lane is greater than a preset threshold value in the steering process so as to ensure that the vehicle is always positioned in the lane.
2. The adaptive cruise system overbending control method according to claim 1, characterized by: when the front vehicle tracked by the vehicle is out of the field of view of the vehicle and a new target is detected in the adjacent lane, the parameter d is obtainedycD, and θ, wherein: dycThe offset distance of the new target relative to the central axis of the vehicle; d is the actual distance between the vehicle and the new target; theta is the deviation angle of the new target relative to the central axis of the vehicle;
and according to the parameter dycD and θ calculate dyWherein d isyIs a bookThe lateral distance deviation between the predicted trajectory profile of the vehicle and the new target actually detected; the transverse distance is the distance between a trajectory curve in the transverse direction of the vehicle coordinate system of the vehicle and a new target by taking the vehicle coordinate system of the vehicle as a reference;
if only a new target is detected, dyComparing with a threshold Th if dy<Th, judging that the new target is in the optional following target range and serving as the new following target, and if dyIf the current vehicle-following target is not recognized, judging that no available vehicle-following target exists in the front, namely, a new vehicle-following target is not recognized;
if multiple new targets are detected simultaneously, then the minimum d is takenyThe value is compared with a threshold Th if dy<Th, then the minimum d is determinedyIf d is the new car-following target, the new target corresponding to the value is the new car-following targetyAnd if the current vehicle-following target is more than or equal to Th, judging that no available vehicle-following target exists in the front, namely identifying a new vehicle-following target.
3. The adaptive cruise system overbending control method according to claim 2, characterized by: dyThe calculation method of (2) is as follows:
dy＝dyv+dyc；
dyc＝d*sinθ；
dyv＝ky*d2/2；
wherein d isyvAn offset distance of the predicted trajectory relative to a central axis of the vehicle; k is a radical ofyRepresenting the curvature of the driving trajectory.
4. The adaptive cruise system overbending control method according to any one of claims 1 to 3, characterized by: and when the current vehicle disappears, the instant speed of the vehicle is greater than the maximum over-bending speed value of the vehicle, the current over-bending longitudinal acceleration of the vehicle is controlled to be less than or equal to 0, and the instant speed of the vehicle when the current vehicle disappears is renewed to be the maximum over-bending speed value of the vehicle.
5. The adaptive cruise system overbending control method according to any one of claims 1 to 3, characterized by: further comprising a curve determination:
and acquiring lane information, judging whether the vehicle enters a curve according to the lane information, and if so, entering target detection and screening.
6. A computer-readable storage medium characterized by: the computer readable storage medium stores one or more programs executable by one or more processors to implement the steps of the adaptive cruise system overbending control method according to any of claims 1 to 5.
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| CN111319623B (en) * | 2020-03-18 | 2021-10-26 | 东软睿驰汽车技术（上海）有限公司 | Vehicle screening method and device based on adaptive cruise control |
| CN111469841B (en) * | 2020-04-24 | 2021-12-14 | 驭势（上海）汽车科技有限公司 | Curve target selection method, vehicle-mounted equipment and storage medium |
| CN112622901B (en) * | 2021-01-11 | 2022-05-13 | 一汽解放汽车有限公司 | Vehicle control method, device and equipment |
| CN113221638B (en) * | 2021-03-31 | 2023-05-26 | 重庆长安汽车股份有限公司 | Vehicle target perception method and system |
| CN116118730B (en) * | 2023-03-22 | 2023-11-03 | 北京京深深向科技有限公司 | Control method, device, equipment and medium of predictive cruise system |
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