CN109649389B - Acceleration-adjustable self-adaptive cruise control system and control method - Google Patents

Acceleration-adjustable self-adaptive cruise control system and control method Download PDF

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CN109649389B
CN109649389B CN201811307671.7A CN201811307671A CN109649389B CN 109649389 B CN109649389 B CN 109649389B CN 201811307671 A CN201811307671 A CN 201811307671A CN 109649389 B CN109649389 B CN 109649389B
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distance
acc
acceleration
speed
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CN109649389A (en
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潘公宇
施雁云
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Jiangsu University
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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

Abstract

The invention provides a control system and a control method of acceleration-adjustable self-adaptive cruise, which comprises an ACC controller, a wheel speed sensor and a laser radar sensor; the wheel speed sensor is used for measuring the speed of the vehicle; the laser radar sensor is used for measuring the speed of the front vehicle and the distance between the front vehicle and the vehicle; the ACC controller comprises a judging module, a calculating module and a comparing module; the judging module judges whether to enter an ACC mode according to the input speed of the front vehicle and the distance between the front vehicle and the vehicle; the calculation module is used for calculating the theoretical distance between the front vehicle and the vehicle; the comparison module is used for calculating the predicted acceleration of the vehicle and transmitting the predicted acceleration of the vehicle to the actuator for execution. The invention can change the acceleration of the vehicle according to the acceleration of the front vehicle, finally realizes that the distance between the front vehicle and the vehicle meets the safety requirement, and has smaller acceleration and deceleration change rate of the vehicle.

Description

Acceleration-adjustable self-adaptive cruise control system and control method
Technical Field
The invention relates to the field of intelligent automobiles, in particular to an acceleration-adjustable self-adaptive cruise control system and a control method.
Background
With the continuous deepening of the global energy crisis, governments and automobile enterprises recognize that energy conservation and emission reduction are the main attack directions of future automobile technology development, the development of electric automobiles is the best way for solving the problems, and meanwhile, the recovery of braking energy is a remarkable characteristic of the electric automobiles.
The adaptive cruise system may detect a distance between a host vehicle and a preceding vehicle and a vehicle speed of the preceding vehicle using an on-vehicle sensor. The system can enable the vehicle to run at the expected safe vehicle distance calculated by the distance strategy by controlling the target driving torque and the braking torque of the motor and the braking pressure according to an ACC control algorithm. The ACC system is developed under the conventional constant-speed cruising, so the cruising speed of the vehicle can be changed according to the speed of the front vehicle, the constant-speed cruising speed is constant, and the vehicle can only run at a fixed speed. In addition, when the conventional ACC system on the vehicle decelerates, the wheels are properly braked sometimes through the coordination of the anti-lock braking system and the engine control system, and energy is directly lost in the form of heat energy during mechanical braking.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an acceleration-adjustable self-adaptive cruise control system and a control method, which can change the acceleration of a vehicle according to the acceleration of a front vehicle, finally realize that the distance between the front vehicle and the vehicle meets the safety requirement, and have smaller acceleration and deceleration change rate.
The present invention achieves the above-described object by the following technical means.
A method for acceleration-adjustable adaptive cruise control, comprising the steps of:
the speed V of the vehicle detected by the wheel speed sensoriinputting the data into an ACC controller, wherein i is detection time, and i belongs to [0, N ∈]N is a natural number;
detecting the vehicle speed V before the ith moment by a laser radar sensori' and the distance d between the vehicle ahead and the vehicle at the i-th timeiInputting an ACC controller;
the ACC controller is used for controlling the vehicle speed V according to the ith momenti' sum distance d between the preceding vehicle and the vehicle at the i-th timeiJudging whether to enter an ACC mode;
after the ACC mode is entered, the ACC controller is used for controlling the vehicle according to the speed V before the ith momenti' and i-th time point of vehicle speed ViAnd the acceleration of the vehicle is adaptively adjusted.
Further, the specific determination of whether to enter the ACC mode is as follows:
ACC cruising speed V through control panelsetAnd distance d between ACC and cruise vehiclesetInputting into the ACC controller;
cruise speed V of ACCsetACC cruise distance dsetThe speed V of the vehicle before the i-th timei' and the distance d between the vehicle ahead and the vehicle at the i-th timeiInputting into a judgment module in the ACC controller when V isset∈[Vmin，Vmax]And V isstart∈[Vmin，Vmax]And d iscal,0≤dsetEntering an ACC mode; otherwise, the ACC mode cannot be entered;
wherein, VminThe minimum vehicle speed during ACC cruising;
Vmaxthe maximum vehicle speed during ACC cruising;
Vstartto enter the initial speed of the ACC cruise, let i equal to 0, Vstart＝V0；
dcal,0Is a fixed inter-vehicle distance for the ACC cruise at the initial vehicle speed.
Further, theFixed inter-vehicle distance during ACC cruise at initial speed: dcal,0＝k*V0+20, where k is a constant.
Further, the ACC controller is used for controlling the ACC according to the speed V of the vehicle before the ith momenti' and i-th time point of vehicle speed ViThe self-adaptive control method for the acceleration of the vehicle specifically comprises the following steps:
and (4) judging the safety distance: the judgment module judges the distance d between the vehicle ahead and the vehicle at the ith momentiWhether it is a safe distance, when diIf the distance is safe, the judgment module controls the vehicle to cruise at the ACCsetCruise at constant speed;
theoretical distance d between front vehicle and vehiclei' calculation: when d isiNot within a safe distance, the predicted acceleration a of the vehicle at the ith moment is assumedi＝ai'; the acceleration a of the vehicle before the ith momenti' and the i-th time predicted acceleration a of the vehicleiInputting the distance d between the front vehicle and the host vehicle in the ACC controller, and calculating the theoretical distance d between the front vehicle and the host vehicle at the ith moment by the calculation modulei’；
Judging the theoretical inter-vehicle distance: judging whether d is judged by a comparison module in the ACC controllercal,i≤di', wherein dcal,iTheoretical inter-vehicle distance d for the time of cruise of the vehicle ACC at the i-th momentcal,i＝k*Vi+20, wherein k is a constant;
when d iscal,i≤diAt time, the acceleration a of the vehicle is predicted by the vehicle at time iiControlling the speed of the vehicle;
when d iscal,i＞diWhen it is, then ai＝aiΔ a, distance d between the leading vehicle and the leading vehicle, repeating the theoryi' calculation and theoretical inter-vehicle distance judgment, and Delta a is a correction value.
Further, the predicted acceleration a of the vehicle at the ith time pointiThe control of the speed of the vehicle is specifically as follows:
calculating the acceleration a of the vehicle before the ith momenti', if ai' is more than or equal to 0, the vehicle ahead at the ith moment is in an acceleration state, and the actuator controls the motor to output driving torque so as to enable the vehicle to reach the predicted acceleration a of the vehicle at the ith momenti；
If aiIf the speed is less than 0, the vehicle before the ith time is in a deceleration state, the actuator controls the motor to operate in a regenerative braking state, and the vehicle reaches the predicted acceleration a of the vehicle at the ith timei。
Further, the calculation module calculates the distance d between the leading vehicle and the vehicle in the ith time theoryi' specifically, the method comprises the following steps:
Figure GDA0002379869720000031
wherein the content of the first and second substances,
Figure GDA0002379869720000032
Figure GDA0002379869720000033
Δ t is the time interval between i and i + 1;
Sifor the predicted acceleration a of the vehicle in the time delta tiThe distance of lower walking;
Si' acceleration a of the preceding vehicle in time of Δ ti' distance walked down;
di-1the distance between the front vehicle and the vehicle at the (i-1) th time.
Further, the control of the motor to operate in the regenerative braking state by the actuator specifically includes: when the vehicle needs to be decelerated, the actuator controls the motor to operate in a regenerative braking state, and regenerative braking force is used; when the regenerative braking force shortage is complemented by the mechanical braking force, the vehicle is brought to the predicted deceleration.
An acceleration-adjustable adaptive cruise control system comprises an ACC controller, a wheel speed sensor and a laser radar sensor; the wheel speed sensor is used for measuring the speed of the vehicle; the laser radar sensor is used for measuring the speed of the front vehicle and the distance between the front vehicle and the vehicle; the ACC controller comprises a judging module, a calculating module and a comparing module; the judging module judges whether to enter an ACC mode according to the input speed of the front vehicle and the distance between the front vehicle and the vehicle; the calculation module is used for calculating the theoretical distance between the front vehicle and the vehicle; the comparison module is used for calculating the predicted acceleration of the vehicle and transmitting the predicted acceleration of the vehicle to the actuator for execution.
The invention has the beneficial effects that:
1. in the self-adaptive cruise control system and the control method with the adjustable acceleration, after the ACC cruise requirement is met in the self-adaptive cruise automatic acceleration or deceleration process, after the acceleration or deceleration of the self vehicle at the current moment is calculated through the acceleration or deceleration of the front vehicle, the distance between the two vehicles after the cruise operation at the current moment is calculated, the distance between the two vehicles is larger than the distance requirement set in the ACC, and even if the distance is not met, the distance between the two vehicles after the cruise operation at the current moment can be recalculated by reducing or increasing the predicted acceleration of the self vehicle by a reference acceleration or deceleration unit amount until the distance meets the requirement larger than the fixed distance, and the absolute value of the acceleration change rate is lower by the control method.
2. According to the acceleration-adjustable self-adaptive cruise control system and the control method, when the ACC system needs to decelerate, the motor controller controls the motor to operate in a regenerative braking state, firstly, regenerative braking force is used, and the insufficient part is complemented by the wire-controlled mechanical braking force, so that the vehicle reaches the predicted deceleration, and the braking energy is recovered.
Drawings
Fig. 1 is a control schematic diagram of the acceleration-adjustable adaptive cruise control system according to the present invention.
Fig. 2 is a flow chart of a control method of the acceleration-adjustable adaptive cruise control according to the present invention.
Fig. 3 is a flow chart of the theoretical distance between the leading vehicle and the host vehicle according to the present invention.
In the figure:
1-a control panel; 2-a lidar sensor; 3-wheel speed sensor; 4-ACC controller; 5-an actuator; 41-judgment module; 42-a calculation module; 43-comparison Module.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the acceleration-adjustable adaptive cruise control system according to the present invention includes an ACC controller 4, a wheel speed sensor 3, and a lidar sensor 2; the wheel speed sensor 3 is used for measuring the speed of the vehicle; the laser radar sensor 2 is used for measuring the speed of the front vehicle and the distance between the front vehicle and the vehicle; the ACC controller 4 comprises a judging module 41, a calculating module 42 and a comparing module 43; the judging module 41 judges whether to enter an ACC mode according to the input speed of the front vehicle and the distance between the front vehicle and the vehicle; the calculation module 42 is configured to calculate a theoretical distance between the leading vehicle and the current vehicle; the comparison module 43 is configured to calculate the predicted acceleration of the vehicle, and transmit the predicted acceleration of the vehicle to the actuator 5 for execution.
As shown in fig. 2, the method for controlling the acceleration-adjustable adaptive cruise according to the present invention includes the following steps:
the speed V of the vehicle detected by the wheel speed sensor 3iinput into the ACC controller 4, where i is the detection time, i belongs to [0, N ∈]N is a natural number; Δ t is the time interval between i and i +1, typically 0.001 seconds.
The vehicle speed V before the ith moment detected by the laser radar sensor 2i' and the distance d between the vehicle ahead and the vehicle at the i-th timeiInput to the ACC controller 4;
the ACC controller 4 controls the vehicle speed V according to the ith timei' sum distance d between the preceding vehicle and the vehicle at the i-th timeiJudging whether to enter an ACC mode; the specific steps for determining whether to enter the ACC mode are as follows:
ACC cruising speed V through control panel 1setAnd distance d between ACC and cruise vehiclesetInput into the ACC controller 4;
cruise speed V of ACCsetACC cruise distance dsetThe speed V of the vehicle before the i-th timei' and the distance d between the vehicle ahead and the vehicle at the i-th timeiInput into a judgment module 41 in the ACC controller 4 when V isset∈[Vmin，Vmax]And V isstart∈[Vmin，Vmax]And d iscal,0≤dsetEntering an ACC mode; otherwise, the ACC mode cannot be entered;
wherein, VminThe minimum vehicle speed during ACC cruising; general VminSet to 20 km/h;
Vmaxthe maximum vehicle speed during ACC cruising; general VmaxSet to 120 km/h;
Vstartto enter the initial speed of the ACC cruise, let i equal to 0, Vstart＝V0；
dcal,1Is a fixed inter-vehicle distance for the ACC cruise at the initial vehicle speed. The fixed inter-vehicle distance during ACC cruise at the initial vehicle speed is as follows: dcal,0＝k*V0+20, where k is a constant, k is related to the vehicle shape of the host vehicle and the lead vehicle, and is typically set to 1.
After entering the ACC mode, when i is 1, it indicates to start cruising, and the ACC controller 4 is based on the vehicle speed V before the i-th timei' and i-th time point of vehicle speed ViAnd the acceleration of the vehicle is adaptively adjusted. The method specifically comprises the following steps:
and (4) judging the safety distance: the judging module 41 judges the distance d between the vehicle ahead and the vehicle at the i-th momentiWhether it is a safe distance, when diIf the distance is safe, the determination module 41 controls the vehicle to cruise at the ACCsetCruise at constant speed;
theoretical distance d between front vehicle and vehiclei' calculation: when d isiNot within a safe distance, the predicted acceleration a of the vehicle at the ith moment is assumedi＝ai'; the acceleration a of the vehicle before the ith momenti' and the i-th time predicted acceleration a of the vehicleiInputting the data into a calculation module 42 in the ACC controller 4, and calculating the theoretical distance d between the leading vehicle and the host vehicle at the i-th time by the calculation module 42i'; the method specifically comprises the following steps:
Figure GDA0002379869720000051
wherein the content of the first and second substances,
Figure GDA0002379869720000052
Figure GDA0002379869720000053
Δ t is the time interval between i and i + 1;
Sifor the predicted acceleration a of the vehicle in the time delta tiThe distance of lower walking;
Si' acceleration a of the preceding vehicle in time of Δ ti' distance walked down;
di-1the distance between the front vehicle and the vehicle at the (i-1) th time.
Judging the theoretical inter-vehicle distance: determining whether d is determined by a comparison module 43 within the ACC controller 4cal,i≤di', wherein dcal,iTheoretical inter-vehicle distance d for the time of cruise of the vehicle ACC at the i-th momentcal,i＝k*Vi+20, wherein k is a constant;
when d iscal,i≤diAt time, the acceleration a of the vehicle is predicted by the vehicle at time iiControlling the speed of the vehicle;
when d iscal,i＞diWhen it is, then ai＝aiΔ a, distance d between the leading vehicle and the leading vehicle, repeating the theoryi' calculation and theoretical inter-vehicle distance judgment, Delta a is a correction value, and is generally 0.0036.
The predicted acceleration a of the vehicle at the ith momentiThe control of the speed of the vehicle is specifically as follows:
calculating the acceleration a of the vehicle before the ith momenti', if ai' is more than or equal to 0, the vehicle ahead at the ith time is in an acceleration state, the actuator 5 controls the motor to output a driving torque, so that the vehicle reaches the predicted acceleration a of the vehicle at the ith timei；
If aiIf the speed is lower than 0, the vehicle before the ith time is in a deceleration state, the actuator 5 controls the motor to operate in a regenerative braking state, and the vehicle reaches the predicted acceleration a of the vehicle at the ith timei. The actuator 5 controls the motor to operate in a regenerative braking state specifically as follows: when the vehicle needs to be decelerated, the actuator 5 controls the motor to operate in regenerationA braking state using regenerative braking force; when the regenerative braking force shortage is complemented by the mechanical braking force, the vehicle is brought to the predicted deceleration. The regenerative braking state is that the motor is in a generator mode, a vehicle braking torque data table is arranged in the vehicle according to the vehicle speed and the braking intensity, the current state of charge (SOC) of the battery is combined, the regenerative braking torque of the vehicle is obtained as long as the SOC is not more than 0.9, and the rest braking requirements are complemented through a wire-control mechanical braking system. The main component of the wire-controlled mechanical brake system is a wire-controlled brake master cylinder sold on the market, and the size of the hydraulic brake force is controlled by controlling the current flowing into the wire-controlled brake master cylinder.
When passing the ith moment, the vehicle predicts the acceleration aiAfter the speed of the vehicle is controlled, i is i +1, the above cycle is repeated, and the cycle of calculating the theoretical predicted acceleration and deceleration value of the vehicle with the distance between the front vehicle and the vehicle greater than the fixed inter-vehicle distance during the ACC cruise is continuously started at the next moment, and corresponding vehicle operation is carried out.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (6)

1. A control method of acceleration-adjustable adaptive cruise is characterized by comprising the following steps:
the speed V of the vehicle detected by the wheel speed sensor (3)iinputting the data into an ACC controller (4), wherein i is the detection time, and i belongs to [0, N ∈]N is a natural number;
the vehicle speed V before the ith moment detected by the laser radar sensor (2)i' and the distance d between the vehicle ahead and the vehicle at the i-th timeiAn input ACC controller (4);
the ACC controller (4) controls the vehicle speed V according to the ith momenti' sum distance d between the preceding vehicle and the vehicle at the i-th timeiJudging whether to enter an ACC mode, specifically as follows:
ACC cruising speed V is controlled by a control panel (1)setAnd distance d between ACC and cruise vehicleset-input into the ACC controller (4);
cruise speed V of ACCsetACC cruise distance dsetThe speed V of the vehicle before the i-th timei' and the distance d between the vehicle ahead and the vehicle at the i-th timeiA judgment module (41) input into the ACC controller (4) when V isset∈[Vmin，Vmax]And V isstart∈[Vmin，Vmax]And d iscal,0≤dsetEntering an ACC mode; otherwise, the ACC mode cannot be entered;
wherein, VminThe minimum vehicle speed during ACC cruising;
Vmaxthe maximum vehicle speed during ACC cruising;
Vstartto enter the initial speed of the ACC cruise, let i equal to 0, Vstart＝V0；
dcal,0Is a fixed inter-vehicle distance for ACC cruise at an initial vehicle speed;
after entering the ACC mode, the ACC controller (4) controls the ACC according to the speed V of the vehicle before the ith momenti' and i-th time point of vehicle speed ViThe self-adaptive control method for the acceleration of the vehicle specifically comprises the following steps:
and (4) judging the safety distance: the judging module (41) judges the distance d between the vehicle ahead and the vehicle at the ith momentiWhether it is a safe distance, when diIf the distance is safe, the judgment module (41) controls the vehicle to cruise at ACCsetCruise at constant speed;
theoretical distance d between front vehicle and vehiclei' calculation: when d isiNot within a safe distance, the predicted acceleration a of the vehicle at the ith moment is assumedi＝ai'; the acceleration a of the vehicle before the ith momenti' and the i-th time predicted acceleration a of the vehicleiA calculation module (42) input into the ACC controller (4), and the calculation module (42) is used for calculating the theoretical distance d between the front vehicle and the vehicle at the ith momenti’；
Judging the theoretical inter-vehicle distance: determining whether d is determined by a comparison module (43) within the ACC controller (4)cal,i≤di', wherein dcal,iTheoretical inter-vehicle distance d for the time of cruise of the vehicle ACC at the i-th momentcal,i＝k*Vi+20, wherein k is a constant;
when d iscal,i≤diAt time, the acceleration a of the vehicle is predicted by the vehicle at time iiControlling the speed of the vehicle;
when d iscal,i>diWhen it is, then ai＝aiΔ a, distance d between the leading vehicle and the leading vehicle, repeating the theoryi' calculation and theoretical inter-vehicle distance judgment, and Delta a is a correction value.
2. The acceleration-adjustable adaptive cruise control method according to claim 1, characterized by a fixed inter-vehicle distance at ACC cruise at said initial vehicle speed: dcal,0＝k*V0+20, where k is a constant.
3. The method of acceleration-adjustable adaptive cruise control according to claim 1, characterized by predicting acceleration a by the vehicle at time iiThe control of the speed of the vehicle is specifically as follows:
calculating the acceleration a of the vehicle before the ith momenti', if ai' is more than or equal to 0, the vehicle ahead at the ith time is in an acceleration state, the actuator (5) controls the motor to output driving torque, so that the vehicle reaches the predicted acceleration a of the vehicle at the ith timei；
If aiIf the speed is less than 0, the vehicle before the ith time is in a deceleration state, the actuator (5) controls the motor to operate in a regenerative braking state, and the vehicle reaches the predicted acceleration a of the vehicle at the ith timei。
4. Method for controlling acceleration-adjustable adaptive cruise according to claim 1, characterised in that said calculation module (42) calculates the theoretical distance d between the leading and the own vehicle at the i-th momenti' specifically, the method comprises the following steps:
Figure FDA0002379869710000021
wherein the content of the first and second substances,
Figure FDA0002379869710000022
Figure FDA0002379869710000023
Δ t is the time interval between i and i + 1;
Sifor the predicted acceleration a of the vehicle in the time delta tiThe distance of lower walking;
Si' acceleration a of the preceding vehicle in time of Δ ti' distance walked down;
di-1the distance between the front vehicle and the vehicle at the (i-1) th time.
5. Method for acceleration-adjustable adaptive cruise control according to claim 3, characterized in that said actuator (5) controls the electric machine to operate in a regenerative braking condition, in particular: when the vehicle needs to be decelerated, the actuator (5) controls the motor to operate in a regenerative braking state, and the regenerative braking force is used; when the regenerative braking force shortage is complemented by the mechanical braking force, the vehicle is brought to the predicted deceleration.
6. Control system for acceleration-adjustable adaptive cruise control according to any of claims 1-5, characterized by comprising an ACC controller (4), a wheel speed sensor (3), a lidar sensor (2); the wheel speed sensor (3) is used for measuring the speed of the vehicle; the laser radar sensor (2) is used for measuring the speed of the front vehicle and the distance between the front vehicle and the vehicle; the ACC controller (4) comprises a judging module (41), a calculating module (42) and a comparing module (43); the judging module (41) judges whether to enter an ACC mode according to the input speed of the front vehicle and the distance between the front vehicle and the vehicle; the calculation module (42) is used for calculating the theoretical distance between the front vehicle and the vehicle; the comparison module (43) is used for calculating the predicted acceleration of the vehicle and transmitting the predicted acceleration of the vehicle to the actuator (5) for execution.
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