CN110040137B - Self-adaptive cruise control method and system - Google Patents
Self-adaptive cruise control method and system Download PDFInfo
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- CN110040137B CN110040137B CN201910349710.8A CN201910349710A CN110040137B CN 110040137 B CN110040137 B CN 110040137B CN 201910349710 A CN201910349710 A CN 201910349710A CN 110040137 B CN110040137 B CN 110040137B
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- 230000003044 adaptive effect Effects 0.000 claims description 35
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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
- B60W30/162—Speed limiting therefor
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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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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Abstract
The invention provides a self-adaptive cruise control method and a system, wherein the method comprises the following steps: and determining more than two target vehicles on the running path of the cruising vehicle in real time according to the motion information of the vehicle in the preset detection range of the cruising vehicle. And calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain the cruising control parameter of the cruising vehicle. The running speed of the cruise vehicle is controlled based on the cruise control parameter. In the scheme, the target vehicles on the running path of the cruising vehicle are determined, and more than two target vehicles are selected as the tracking targets of the cruising vehicle. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. When the vehicles which are driven aggressively exist in the tracking targets, other tracking targets are selected as the primary tracking targets, and the cruising safety and the driving experience can be improved.
Description
Technical Field
The invention relates to the technical field of vehicle driving assistance, in particular to a self-adaptive cruise control method and a self-adaptive cruise control system.
Background
With the development of scientific technology, automobiles are becoming one of the main vehicles. Technologies for assisting the driving of automobiles are also increasingly used in the automotive industry, including adaptive cruise control of automobiles.
The current common automobile self-adaptive cruise control method comprises the following steps: and selecting a single tracking target vehicle in front of the cruising vehicle, and controlling the cruising vehicle to accelerate or decelerate according to information such as the distance, the speed and the like between the cruising vehicle and the tracking target vehicle. However, the conventional adaptive cruise control method cannot predict the driving behavior of the tracking target vehicle ahead. When the driving behavior of the tracked target vehicle is aggressive, for example, the tracked target vehicle frequently brakes suddenly and frequently changes lanes, the adaptive cruise control of the cruise vehicle is seriously affected, and driving accidents are easily caused.
Therefore, the existing adaptive cruise control method has the problems of low safety, low driving experience and the like.
Disclosure of Invention
In view of this, embodiments of the present invention provide an adaptive cruise control method and system, so as to solve the problems of low security and low driving experience of the existing adaptive cruise control method.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the embodiment of the invention discloses a self-adaptive cruise control method in a first aspect, which comprises the following steps:
the method comprises the steps that N target vehicles on a running path of a cruising vehicle are determined in real time according to motion information of the vehicle in a preset detection range of the cruising vehicle, wherein the motion information at least comprises a vehicle speed and distance information between the vehicle and the cruising vehicle, the distance information comprises a longitudinal distance and a transverse distance, and N is an integer greater than or equal to 2;
calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain cruising control parameters of the cruising vehicle;
controlling the running speed of the cruising vehicle based on the cruising control parameter.
Preferably, the determining, in real time, N target vehicles located on a traveling path of the cruising vehicle according to the motion information of the vehicle located within a preset detection range of the cruising vehicle includes:
determining a driving lane of a vehicle located within a preset detection range of a cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle;
and determining N vehicles which are positioned on the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicles and the sequence of the longitudinal distance between the vehicles and the cruising vehicle from near to far.
Preferably, the determining, in real time, N target vehicles located on a traveling path of the cruising vehicle according to the motion information of the vehicle located within a preset detection range of the cruising vehicle includes:
determining a driving lane of a vehicle located within a preset detection range of a cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle;
according to the sequence that the priority of a driving lane where the vehicle is located is from high to low and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, M target vehicles which are located on the same lane with the cruising vehicle are determined in real time, and L target vehicles which are located on different lanes with the cruising vehicle are determined in real time;
the priority of the vehicle and the cruising vehicle in the same lane is higher than that of the vehicle in a non-same lane, M and L are integers which are more than or equal to 0, and the sum of M and L is equal to N.
Preferably, the obtaining of the cruise control parameter of the cruise vehicle by calculating according to the motion information corresponding to each target vehicle and the driving information of the cruise vehicle includes:
obtaining N target vehicle speeds of the cruising vehicles according to the current vehicle speed of the cruising vehicles, the vehicle speed of each target vehicle and the longitudinal distance between the cruising vehicles;
calculating N target accelerations of the cruising vehicle based on the current vehicle speed of the cruising vehicle and each target vehicle speed;
calculating a cruising target acceleration of the cruising vehicle according to the current speed and the target cruising speed of the cruising vehicle;
calculating to obtain the final target acceleration of the cruising vehicle by using the cruising target acceleration and the N target accelerations of the cruising vehicle;
and comparing an acceleration threshold value, the current acceleration of the cruising vehicle and the final target acceleration, determining the acceleration or deceleration of the cruising vehicle, and acquiring cruise control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle.
Preferably, the adaptive cruise control method further includes:
stopping an adaptive cruise function of the cruise vehicle when it is detected that a driver of the cruise vehicle steps on a brake pedal.
A second aspect of an embodiment of the present invention discloses an adaptive cruise control system, including:
the vehicle determining unit is used for determining N target vehicles on a running path of a cruising vehicle in real time according to motion information of the vehicle within a preset detection range of the cruising vehicle, wherein the motion information at least comprises a vehicle speed and distance information of the cruising vehicle, the distance information comprises a longitudinal distance and a transverse distance, and N is an integer greater than or equal to 2;
the calculating unit is used for calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain cruising control parameters of the cruising vehicle;
a control unit for controlling a running speed of the cruise vehicle based on the cruise control parameter.
Preferably, the vehicle determination unit is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle, and determining N vehicles which are positioned in the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicle and the sequence from near to far of the longitudinal distance between the vehicle and the cruising vehicle.
Preferably, the vehicle determination unit is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle, and a longitudinal distance between the vehicle and the cruising vehicle, and determining M target vehicles on the same lane with the cruising vehicle and L target vehicles on non-same lanes with the cruising vehicle in real time according to the sequence that the priority of the driving lane where the vehicle is located is from high to low, and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, wherein the priority of the vehicle on the same lane with the cruising vehicle is higher than that of the non-same lanes, M and L are integers greater than or equal to 0, and the sum of M and L is equal to N.
Preferably, the calculation unit includes:
the acquiring module is used for acquiring N target vehicle speeds of the cruising vehicles according to the current vehicle speed of the cruising vehicles, the vehicle speed of each target vehicle and the longitudinal distance between the cruising vehicles;
the first calculation module is used for calculating N target accelerations of the cruising vehicle based on the current vehicle speed of the cruising vehicle and each target vehicle speed;
the second calculation module is used for calculating the cruising target acceleration of the cruising vehicle according to the current speed and the target cruising speed of the cruising vehicle;
the third calculation module is used for calculating and obtaining the final target acceleration of the cruising vehicle by utilizing the cruising target acceleration and the N target accelerations of the cruising vehicle;
and the processing module is used for comparing an acceleration threshold value, the current acceleration of the cruising vehicle and the final target acceleration, determining the acceleration or deceleration of the cruising vehicle, and acquiring cruise control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle.
Preferably, the control unit is further configured to: stopping an adaptive cruise function of the cruise vehicle when it is detected that a driver of the cruise vehicle steps on a brake pedal.
Based on the self-adaptive cruise control method and the self-adaptive cruise control system provided by the embodiment of the invention, the method comprises the following steps: and determining more than two target vehicles on the running path of the cruising vehicle in real time according to the motion information of the vehicle in the preset detection range of the cruising vehicle. And calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain the cruising control parameter of the cruising vehicle. The running speed of the cruise vehicle is controlled based on the cruise control parameter. In the scheme, more than two target vehicles are selected as the tracking targets of the cruising vehicles by determining the target vehicles on the driving path of the cruising vehicles. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. When the vehicles which are driven aggressively exist in the tracking targets, other tracking targets are selected as the primary tracking targets, and the cruising safety and the driving experience can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of an adaptive cruise control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of calculating cruise control parameters according to an embodiment of the present invention;
FIG. 3 is a block diagram of an adaptive cruise control system according to an embodiment of the present invention;
FIG. 4 is another block diagram of an adaptive cruise control system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an architecture of an adaptive cruise control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
As known from the background art, in the current adaptive cruise control method for an automobile, a single tracking target vehicle is selected in front of a cruise vehicle, and the cruise vehicle is controlled to accelerate or decelerate according to information such as the distance and the speed between the cruise vehicle and the tracking target vehicle. However, when the driving behavior of the tracked target vehicle is more aggressive, the adaptive cruise control of the cruise vehicle is seriously affected, driving accidents are easily caused, and the safety performance and the driving experience are low.
Therefore, the embodiment of the invention provides an adaptive cruise control method and system, wherein more than two target vehicles are selected as tracking targets of a cruise vehicle on a running path of the cruise vehicle. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. To improve cruise safety and driving experience.
Referring to fig. 1, a flowchart of an adaptive cruise control method according to an embodiment of the present invention is shown, where the adaptive cruise control method includes the following steps:
step S101: the method comprises the steps of determining N target vehicles on a running path of a cruising vehicle in real time according to motion information of the vehicle within a preset detection range of the cruising vehicle.
In the process of implementing step S101 specifically, navigation information is set in the cruising vehicle in advance, such as: the starting address and the target address are preset, and the driving path is selected to be high-speed road priority or lane priority. According to the navigation information of the cruising vehicle, the running path of the cruising vehicle can be obtained.
The navigation information of the cruise vehicle and the road surface information corresponding to the travel route are obtained by an in-vehicle sensor of the cruise vehicle. When the cruising vehicle has no navigation information, a travel path may be determined according to a vehicle posture of the cruising vehicle.
In the process of specifically implementing the step S101, a detection range of the cruising vehicle is set in advance, the motion information of the vehicle within the detection range is acquired in real time, and N target vehicles located on the travel path are determined. The determination of the target vehicle located on the travel path includes, but is not limited to, two determination manners, where the first determination manner is: and determining N vehicles which are positioned on the same lane as the cruising vehicle as target vehicles. The second determination method is as follows: determining M target vehicles on the same lane with the cruising vehicle, and determining L target vehicles on non-same lanes with the cruising vehicle in real time.
For the first determination method, the specific implementation process is as follows: determining a driving lane of a vehicle located within a preset detection range of the cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle. And determining N vehicles which are positioned on the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicles and the sequence of the longitudinal distance between the vehicles and the cruising vehicle from near to far.
For the second determination method, the specific implementation process is as follows: determining a driving lane of a vehicle located within a preset detection range of the cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle. According to the sequence that the priority of a driving lane where the vehicle is located is from high to low and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, M target vehicles which are located on the same lane with the cruising vehicle are determined in real time, and L target vehicles which are located on different lanes with the cruising vehicle are determined in real time. The priority of the vehicle and the cruising vehicle in the same lane is higher than that of the vehicle in a non-same lane, M and L are integers which are more than or equal to 0, and the sum of M and L is equal to N.
To better explain how it is determined whether the target vehicle and the cruising vehicle are on the same lane, this is exemplified by: the method comprises the steps of presetting a left boundary curve and a right boundary curve of the cruise vehicle by taking the cruise vehicle as a reference, wherein the width between the left boundary curve and the right boundary curve is larger than or equal to the width of a vehicle body of the cruise vehicle.
As shown in formula (1), with the longitudinal distance x between the preview point on the driving path and the cruising vehicle as a variable, and in combination with the first distance between each position point on the left boundary curve and the driving path, a corresponding relation L1 between the first distance and x is established. And establishing a corresponding relation L2 between the second distance and x by combining the second distances from each position point on the right boundary curve to the driving path.
And substituting the longitudinal distance between each target vehicle and the cruising vehicle into the formula (1) to calculate corresponding L1 and L2. And acquiring the transverse distance Dy between each target vehicle and the running path, wherein when the Dy is greater than or equal to L1 and less than or equal to L2, the target vehicle and the cruising vehicle are positioned in the same lane, and when the Dy is less than L1 or greater than L2, the target vehicle and the cruising vehicle are positioned in different lanes.
The motion information of the vehicle is acquired through a vehicle-mounted sensor of the cruise vehicle, the motion information at least comprises a vehicle speed and distance information between the vehicle and the cruise vehicle, the distance information comprises a longitudinal distance and a transverse distance, and N is an integer greater than or equal to 2.
Step S102: and calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain the cruising control parameter of the cruising vehicle.
In the specific implementation process of step S102, based on the motion information corresponding to each target vehicle, the cruise control parameters for controlling the speed of the cruise vehicle are calculated by combining the speed of the cruise vehicle and the preset target cruise vehicle speed and other driving information.
It should be noted that, during the running of the cruise vehicle, the driver sets the target cruise vehicle speed according to the actual situation and the actual demand.
Step S103: controlling the running speed of the cruising vehicle based on the cruising control parameter.
In the process of implementing step S103 specifically, based on the cruise control parameter, a driver or a brake of the cruise vehicle is invoked, so as to control the running speed of the cruise vehicle, and control the vehicle speed of the cruise vehicle within a preset range. And when the driver of the cruise vehicle needs to be called, adjusting the accelerator opening or the driving torque of the cruise vehicle based on the cruise control parameter. When the brake of the cruise vehicle needs to be invoked, the brake torque or brake deceleration of the cruise vehicle is adjusted based on the cruise control parameter.
Preferably, in the process of executing the above steps S101 to S103, when it is detected that the driver of the cruise vehicle depresses the brake pedal, the adaptive cruise function of the cruise vehicle is stopped.
In the above steps S101 to S103, the cruise control parameters of the cruise vehicle are obtained by calculating the motion information corresponding to two or more target vehicles and the driving information of the cruise vehicle, and the running speed of the cruise vehicle is controlled. Similarly, when only one target vehicle exists on the driving path of the cruising vehicle, the cruising control parameter may be obtained through the motion information corresponding to the single target vehicle and the driving information of the cruising vehicle, so as to control the driving speed of the cruising vehicle, and the specific execution principle may refer to the contents in the above step S101 to step S103, which is not described herein again.
In the embodiment of the invention, more than two target vehicles are selected as the tracking targets of the cruising vehicles by determining the target vehicles on the traveling path of the cruising vehicles. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. When the vehicles which are driven aggressively exist in the tracking targets, other tracking targets are selected as the primary tracking targets, and the cruising safety and the driving experience can be improved.
Referring to fig. 2, the process of calculating the cruise control parameter involved in step S102 in the above embodiment of the present invention is shown as a flowchart of calculating the cruise control parameter provided in the embodiment of the present invention, and includes the following steps:
step S201: and obtaining N target vehicle speeds of the cruising vehicles according to the current vehicle speed of the cruising vehicles, the vehicle speed of each target vehicle and the longitudinal distance between the cruising vehicles.
In the process of specifically implementing step S201, for each target vehicle, according to the current speed of the cruising vehicle, in combination with the speed of the target vehicle and the longitudinal distance between the target vehicle and the cruising vehicle, a first table at least containing the correspondence between the speed and the longitudinal distance is queried to obtain the target speed of the cruising vehicle. A total of N target vehicle speeds of the cruising vehicle is obtained. Such as: when N is 2, that is, the cruising vehicle has two target vehicles, the first target vehicle and the second target vehicle. And for the first target vehicle, obtaining the first target vehicle speed of the cruising vehicle through the first table based on the current vehicle speed of the cruising vehicle and combining the vehicle speed of the first target vehicle and the longitudinal distance from the cruising vehicle. Similarly to the process of obtaining the first target vehicle speed, for the second target vehicle, a second target vehicle speed of the cruising vehicle is obtained.
Step S202: and calculating N target accelerations of the cruising vehicle based on the current vehicle speed of the cruising vehicle and each target vehicle speed.
In the process of embodying step S202, as can be seen from the contents shown in the above-described step S201, a total of N target vehicle speeds of the cruising vehicle are obtained. And calculating N target accelerations of the cruising vehicle by using a formula (2) based on the current vehicle speed of the cruising vehicle and each target vehicle speed.
In the formula (2), A is a target acceleration, VdesIs a target vehicle speed, VfAnd T is the current speed of the cruising vehicle and is preset adjusting time. Such as: and when N is 2, namely the target speed corresponding to the cruising vehicle comprises a first target speed and a second target speed, respectively substituting the first target speed and the second target speed into the formula (2) to calculate a first target acceleration and a second target acceleration.
Step S203: and calculating the cruising target acceleration of the cruising vehicle according to the current speed and the target cruising speed of the cruising vehicle.
In the process of implementing step S203 specifically, the target cruise vehicle speed is preset by the driver of the cruise vehicle according to actual demand. The cruise target acceleration of the cruise vehicle is calculated using equation (3) based on the current vehicle speed and the target cruise vehicle speed of the cruise vehicle.
In the formula (3), A' is a target acceleration, VsFor said target cruising speed, VfAnd T is the current speed of the cruising vehicle and is preset adjusting time.
It should be noted that the execution sequence of step S202 and step S203 includes, but is not limited to, the execution sequence shown above, and step S202 may be executed after step S203 is executed. The specific execution sequence is not specifically limited in the embodiments of the present invention.
Step S204: and calculating to obtain the final target acceleration of the cruising vehicle by using the cruising target acceleration and the N target accelerations of the cruising vehicle.
Step S205: and comparing an acceleration threshold value, the current acceleration of the cruising vehicle and the final target acceleration, determining the acceleration or deceleration of the cruising vehicle, and acquiring cruise control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle.
In the process of implementing step S205 specifically, it is determined that the cruising vehicle is accelerated or decelerated by comparing an acceleration threshold value, the current acceleration of the cruising vehicle, and the final target acceleration. When the cruise vehicle needs to accelerate, namely a driver of the cruise vehicle needs to be called, the cruise control parameters are obtained according to the current vehicle speed, the current acceleration and the final target acceleration, the accelerator opening or the driving torque of the cruise vehicle is controlled based on the cruise control parameters, acceleration is achieved, and the speed of the cruise vehicle is controlled within a preset range.
When the cruise vehicle needs to decelerate, namely the brake of the cruise vehicle needs to be called, the cruise control parameters are obtained according to the current vehicle speed, the current acceleration and the final target acceleration, the brake torque or the brake deceleration of the cruise vehicle is controlled based on the cruise control parameters, and the speed of the cruise vehicle is controlled within a preset range by deceleration.
It should be noted that when the cruise vehicle runs at different speeds, the cruise vehicle will have a natural acceleration at idle, and the minimum acceleration to which the driver of the cruise vehicle can respond is different from the maximum acceleration to which the brake can respond. Meanwhile, the actual acceleration of the cruising vehicle may vary depending on the actual conditions of the traveling path, such as the wet road, the gradient, and the like. Therefore, it is judged that the cruise vehicle needs to call the brake or the actuator by comparing the final target acceleration of the cruise vehicle, the above-mentioned minimum acceleration, the maximum acceleration, and the actual acceleration.
In the embodiment of the invention, the final target acceleration of the cruising vehicle is calculated based on the motion information of more than two target vehicles. And comparing the acceleration threshold value with the current acceleration and the final target acceleration of the cruising vehicle, determining the acceleration or deceleration of the cruising vehicle, and acquiring the cruising control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle. The driver or the brake of the cruising vehicle is controlled according to the cruising control parameters, so that the speed of the cruising vehicle is controlled within a preset range, and the cruising safety and the driving experience are effectively improved.
Corresponding to the adaptive cruise control method disclosed in the above embodiment of the present invention, referring to fig. 3, an embodiment of the present invention further provides a structural block diagram of an adaptive cruise control system, where the adaptive cruise control system includes: a vehicle determination unit 301, a calculation unit 302, and a control unit 303.
The vehicle determining unit 301 is configured to determine, in real time, N target vehicles located on a driving path of a cruising vehicle according to motion information of the vehicle located within a preset detection range of the cruising vehicle, where the motion information at least includes a vehicle speed and distance information with the cruising vehicle, the distance information includes a longitudinal distance and a lateral distance, and N is an integer greater than or equal to 2.
In a specific implementation, the determining the target vehicle located on the travel path includes, but is not limited to, two determination manners, a first determination manner is: and determining N vehicles which are positioned on the same lane as the cruising vehicle as target vehicles. The second determination method is as follows: determining M target vehicles on the same lane with the cruising vehicle, and determining L target vehicles on non-same lanes with the cruising vehicle in real time.
For the first determination manner mentioned above, the vehicle determination unit 301 is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle, and determining N vehicles which are positioned in the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicle and the sequence from near to far of the longitudinal distance between the vehicle and the cruising vehicle.
For the second determination manner mentioned above, the vehicle determination unit 301 is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle, and a longitudinal distance between the vehicle and the cruising vehicle, and determining M target vehicles on the same lane with the cruising vehicle and L target vehicles on non-same lanes with the cruising vehicle in real time according to the sequence that the priority of the driving lane where the vehicle is located is from high to low, and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, wherein the priority of the vehicle on the same lane with the cruising vehicle is higher than that of the non-same lanes, M and L are integers greater than or equal to 0, and the sum of M and L is equal to N.
Preferably, the vehicle determination unit 301, when determining the driving lane of the vehicle located in the preset detection range of the cruising vehicle, is specifically configured to: determining a driving lane of the vehicle which is located in a preset detection range of the cruising vehicle and is consistent with the driving direction of the cruising vehicle.
The two specific processes related to the above two processes for determining the target vehicle located on the travel path refer to the corresponding contents in step S101 disclosed in fig. 1 of the embodiment of the present invention.
The calculating unit 302 is configured to perform calculation according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle, so as to obtain a cruising control parameter of the cruising vehicle.
The control unit 303 is configured to control the running speed of the cruise vehicle based on the cruise control parameter, and the specific control process refers to the corresponding content in step S103 disclosed in fig. 1 in the above embodiment of the present invention.
Preferably, the control unit 303 is further configured to: stopping an adaptive cruise function of the cruise vehicle when it is detected that a driver of the cruise vehicle steps on a brake pedal.
In the embodiment of the invention, more than two target vehicles are selected as the tracking targets of the cruising vehicles by determining the target vehicles on the traveling path of the cruising vehicles. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. When the vehicles which are driven aggressively exist in the tracking targets, other tracking targets are selected as the primary tracking targets, and the cruising safety and the driving experience can be improved.
Preferably, referring to fig. 4 in conjunction with fig. 3, a structural block diagram of an adaptive cruise control system according to an embodiment of the present invention is shown, where the calculating unit 302 includes: an acquisition module 3021, a first calculation module 3022, a second calculation module 3023, a third calculation module 3024, and a processing module 3025.
An obtaining module 3021, configured to obtain N target vehicle speeds of the cruise vehicle according to a current vehicle speed of the cruise vehicle, a vehicle speed of each target vehicle, and a longitudinal distance from the cruise vehicle. The process of calculating the target vehicle speed is described in step S201 disclosed in fig. 2 of the embodiment of the present invention.
A first calculating module 3022, configured to calculate N target accelerations of the cruising vehicle based on a current vehicle speed of the cruising vehicle and each of the target vehicle speeds. The process of calculating the target acceleration is described in step S202 disclosed in fig. 2 of the above embodiment of the present invention.
A second calculating module 3023, configured to calculate a cruise target acceleration of the cruise vehicle according to a current vehicle speed of the cruise vehicle and a target cruise vehicle speed. The process of calculating the cruise target acceleration is described in the above embodiment of the present invention with reference to the corresponding content in step S203 disclosed in fig. 2.
A third calculating module 3024, configured to calculate a final target acceleration of the cruising vehicle using the cruising target acceleration of the cruising vehicle and the N target accelerations.
A processing module 3025, configured to compare an acceleration threshold value, the current acceleration of the cruise vehicle, and the final target acceleration, determine that the cruise vehicle accelerates or decelerates, and obtain a cruise control parameter according to the current vehicle speed, the current acceleration, and the final target acceleration of the cruise vehicle. The process of determining the acceleration or deceleration of the cruising vehicle is described in the embodiment of the present invention described above with reference to the corresponding content in step S205 disclosed in fig. 2.
In the embodiment of the invention, the final target acceleration of the cruising vehicle is calculated based on the motion information of more than two target vehicles. And comparing the acceleration threshold value with the current acceleration and the final target acceleration of the cruising vehicle, determining the acceleration or deceleration of the cruising vehicle, and acquiring the cruising control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle. The driver or the brake of the cruising vehicle is controlled according to the cruising control parameters, so that the speed of the cruising vehicle is controlled within a preset range, and the cruising safety and the driving experience are effectively improved.
To better explain the adaptive cruise control system disclosed in fig. 3 and 4 of the above embodiments of the present invention, the cruise vehicle has two target vehicles, and the two target vehicles are located in front of the cruise vehicle, as an example, which is illustrated by the content shown in fig. 5. Referring to fig. 5, there is shown an architecture diagram of an adaptive cruise control system according to an embodiment of the present invention, in fig. 5, including: the method comprises the steps of selecting a main target module 501, a constant-speed cruise control module 502, an adaptive cruise control module 503, a target acceleration fusion module 504 and a lower controller 505.
A select primary target module 501 for selecting two target vehicles based on the driving data of the cruising vehicle, the motion information of a plurality of target vehicles ahead of the cruising vehicle, and the road lane information.
In a specific implementation, the driving data includes at least: navigation information and driving information of the cruising vehicle. The specific process of selecting the target vehicle is as described in step S101 disclosed in fig. 1 of the embodiment of the present invention.
The cruise control module 502 is configured to calculate a cruise target acceleration of the cruise vehicle based on the traveling data of the cruise vehicle. The process of calculating the cruise target acceleration is described in the above embodiment of the present invention with reference to the corresponding content in step S203 disclosed in fig. 2.
An adaptive cruise control module 503, configured to calculate a target acceleration of the cruise vehicle based on the motion information of the target vehicle and the driving data. The process of calculating the target acceleration is described in step S202 disclosed in fig. 2 of the above embodiment of the present invention.
In a specific implementation, the adaptive cruise control module 503 is specifically configured to calculate a first target acceleration of the cruise vehicle based on the motion information of the first target vehicle and the driving data. And calculating a second target acceleration of the cruising vehicle based on the motion information of the second target vehicle and the running data.
And a target acceleration fusion module 504, configured to obtain a final target acceleration of the cruising vehicle based on the cruising target acceleration, the first target acceleration, and the second target acceleration.
And a lower controller 505 for determining acceleration or deceleration of the cruise vehicle based on the final target acceleration, calculating a cruise control parameter, and controlling a running speed of the cruise vehicle based on the cruise control parameter. The process of determining the acceleration or deceleration of the cruising vehicle and controlling the running speed of the cruising vehicle is described in the embodiment of the present invention described above with reference to the corresponding content in step S205 disclosed in fig. 2.
It should be noted that the content shown in fig. 5 is only for illustration.
In the embodiment of the invention, the final target acceleration of the cruising vehicle is calculated based on the motion information of the two target vehicles. Based on the final target acceleration, the cruise vehicle is determined to accelerate or decelerate, and the cruise control parameters are acquired. The driver or the brake of the cruising vehicle is controlled according to the cruising control parameters, so that the speed of the cruising vehicle is controlled within a preset range, and the cruising safety and the driving experience are effectively improved.
To sum up, the embodiment of the present invention provides a method and a system for adaptive cruise control, where the method includes: and determining more than two target vehicles on the running path of the cruising vehicle in real time according to the motion information of the vehicle in the preset detection range of the cruising vehicle. And calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain the cruising control parameter of the cruising vehicle. The running speed of the cruise vehicle is controlled based on the cruise control parameter. In the scheme, more than two target vehicles are selected as the tracking targets of the cruising vehicles by determining the target vehicles on the driving path of the cruising vehicles. And calculating the cruise control parameters according to the motion information corresponding to the tracking target and the driving information of the cruise vehicle, so as to control the running speed of the cruise vehicle. When the vehicles which are driven aggressively exist in the tracking targets, other tracking targets are selected as the primary tracking targets, and the cruising safety and the driving experience can be improved.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An adaptive cruise control method, characterized in that it comprises:
the method comprises the steps that N target vehicles on a running path of a cruising vehicle are determined in real time according to motion information of the vehicle in a preset detection range of the cruising vehicle, wherein the motion information at least comprises a vehicle speed and distance information between the vehicle and the cruising vehicle, the distance information comprises a longitudinal distance and a transverse distance, and N is an integer greater than or equal to 2;
calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain cruising control parameters of the cruising vehicle;
controlling a running speed of the cruise vehicle based on the cruise control parameter;
wherein, the calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain the cruising control parameter of the cruising vehicle comprises:
obtaining N target vehicle speeds of the cruising vehicles according to the current vehicle speed of the cruising vehicles, the vehicle speed of each target vehicle and the longitudinal distance between the cruising vehicles;
calculating N target accelerations of the cruising vehicle based on the current vehicle speed of the cruising vehicle and each target vehicle speed;
calculating a cruising target acceleration of the cruising vehicle according to the current speed and the target cruising speed of the cruising vehicle;
calculating to obtain the final target acceleration of the cruising vehicle by using the cruising target acceleration and the N target accelerations of the cruising vehicle;
and comparing an acceleration threshold value, the current acceleration of the cruising vehicle and the final target acceleration, determining the acceleration or deceleration of the cruising vehicle, and acquiring cruise control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle.
2. The method according to claim 1, wherein the determining N target vehicles located on the traveling path of the cruising vehicle in real time according to the motion information of the vehicle located within the preset detection range of the cruising vehicle includes:
determining a driving lane of a vehicle located within a preset detection range of a cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle;
and determining N vehicles which are positioned on the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicles and the sequence of the longitudinal distance between the vehicles and the cruising vehicle from near to far.
3. The method according to claim 1, wherein the determining N target vehicles located on the traveling path of the cruising vehicle in real time according to the motion information of the vehicle located within the preset detection range of the cruising vehicle includes:
determining a driving lane of a vehicle located within a preset detection range of a cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle;
according to the sequence that the priority of a driving lane where the vehicle is located is from high to low and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, M target vehicles which are located on the same lane with the cruising vehicle are determined in real time, and L target vehicles which are located on different lanes with the cruising vehicle are determined in real time;
the priority of the vehicle and the cruising vehicle in the same lane is higher than that of the vehicle in a non-same lane, M and L are integers which are more than or equal to 0, and the sum of M and L is equal to N.
4. The method according to any one of claims 1-3, further comprising:
stopping an adaptive cruise function of the cruise vehicle when it is detected that a driver of the cruise vehicle steps on a brake pedal.
5. An adaptive cruise control system, the system comprising:
the vehicle determining unit is used for determining N target vehicles on a running path of a cruising vehicle in real time according to motion information of the vehicle within a preset detection range of the cruising vehicle, wherein the motion information at least comprises a vehicle speed and distance information of the cruising vehicle, the distance information comprises a longitudinal distance and a transverse distance, and N is an integer greater than or equal to 2;
the calculating unit is used for calculating according to the motion information corresponding to each target vehicle and the driving information of the cruising vehicle to obtain cruising control parameters of the cruising vehicle;
a control unit for controlling a running speed of the cruise vehicle based on the cruise control parameter;
wherein the calculation unit includes:
the acquiring module is used for acquiring N target vehicle speeds of the cruising vehicles according to the current vehicle speed of the cruising vehicles, the vehicle speed of each target vehicle and the longitudinal distance between the cruising vehicles;
the first calculation module is used for calculating N target accelerations of the cruising vehicle based on the current vehicle speed of the cruising vehicle and each target vehicle speed;
the second calculation module is used for calculating the cruising target acceleration of the cruising vehicle according to the current speed and the target cruising speed of the cruising vehicle;
the third calculation module is used for calculating and obtaining the final target acceleration of the cruising vehicle by utilizing the cruising target acceleration and the N target accelerations of the cruising vehicle;
and the processing module is used for comparing an acceleration threshold value, the current acceleration of the cruising vehicle and the final target acceleration, determining the acceleration or deceleration of the cruising vehicle, and acquiring cruise control parameters according to the current speed, the current acceleration and the final target acceleration of the cruising vehicle.
6. The system according to claim 5, characterized in that the vehicle determination unit is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle and a longitudinal distance between the vehicle and the cruising vehicle, and determining N vehicles which are positioned in the same lane as the cruising vehicle as target vehicles in real time according to the driving lane of the vehicle and the sequence from near to far of the longitudinal distance between the vehicle and the cruising vehicle.
7. The system according to claim 5, characterized in that the vehicle determination unit is specifically configured to: determining a driving lane of a vehicle in a preset detection range of the cruising vehicle, and a longitudinal distance between the vehicle and the cruising vehicle, and determining M target vehicles on the same lane with the cruising vehicle and L target vehicles on non-same lanes with the cruising vehicle in real time according to the sequence that the priority of the driving lane where the vehicle is located is from high to low, and the longitudinal distance between the vehicle and the cruising vehicle is from near to far, wherein the priority of the vehicle on the same lane with the cruising vehicle is higher than that of the non-same lanes, M and L are integers greater than or equal to 0, and the sum of M and L is equal to N.
8. The system according to any one of claims 5-7, wherein the control unit is further configured to: stopping an adaptive cruise function of the cruise vehicle when it is detected that a driver of the cruise vehicle steps on a brake pedal.
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| CN113942504B (en) * | 2020-07-16 | 2023-05-05 | 华为技术有限公司 | Self-adaptive cruise control method and device |
| CN113325848B (en) * | 2021-05-31 | 2022-04-08 | 广州景骐科技有限公司 | Method and device for controlling vehicle on bumpy road, vehicle and storage medium |
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| GB9425096D0 (en) * | 1994-12-13 | 1995-02-08 | Lucas Ind Plc | Apparatus and method for cruise control |
| SE528566C2 (en) * | 2005-12-13 | 2006-12-19 | Scania Cv Abp | Adaptive cruise control system for motor vehicle, simultaneously detects multiple vehicles in front and generates control sequence for each detected vehicle |
| US10328935B2 (en) * | 2016-06-08 | 2019-06-25 | GM Global Technology Operations LLC | Adaptive cruise control system and method of operating the same |
| CN106114511B (en) * | 2016-07-21 | 2018-03-06 | 辽宁工业大学 | A kind of automobile cruise system core target identification method |
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Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Patentee after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Patentee before: Beijing Jingwei HiRain Technologies Co.,Ltd. |