CN110816530A - Speed following control method and system of adaptive cruise system - Google Patents
Speed following control method and system of adaptive cruise system Download PDFInfo
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- CN110816530A CN110816530A CN201911113035.5A CN201911113035A CN110816530A CN 110816530 A CN110816530 A CN 110816530A CN 201911113035 A CN201911113035 A CN 201911113035A CN 110816530 A CN110816530 A CN 110816530A
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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
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Abstract
The invention discloses a speed following control method and a speed following control system of a self-adaptive cruise system, which belong to the technical field of automatic driving and comprise the following steps: setting the length of a time period; calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle; taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed; obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope; calculating a second target vehicle speed at the end of the time period according to the first target vehicle speed and the acceleration limit value; and compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle. According to the invention, the second target speed and the target acceleration are obtained in real time by the first target speed through the acceleration limit value, so that smooth change and no mutation of the target acceleration and the second target speed are ensured when the vehicle is switched between the following state and the non-vehicle state, and the overshoot of the speed control is greatly reduced.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a speed following control method and system of an adaptive cruise system.
Background
Adaptive Cruise Control (ACC) is an automobile function that allows a vehicle Cruise Control system to adapt to traffic conditions by adjusting speed, and is mainly used to improve driving safety, and the Control technology of the ACC is increasingly emphasized.
In the prior art, an adaptive cruise control system mainly detects whether a vehicle exists on a road where a vehicle advances, when the vehicle exists in the front, the adaptive cruise control system controls the reasonable distance between the vehicle and the vehicle in front through active deceleration, and when the vehicle does not exist in the front, the adaptive cruise control system runs according to the speed set by a driver.
Chinese patent: 201810842856.1A self-adaptive cruise control method based on pure electric vehicle includes calculating target vehicle acceleration according to vehicle ahead distance, relative speed, target vehicle speed, current vehicle speed and vehicle following distance, adopting CC constant speed cruise mode when there is no vehicle ahead, the calculation formula is as follows:
ax,cc＝Kv(Vset-Vx)
when a vehicle target appears in the following state or in front of the following state, an ACC adaptive cruise algorithm is adopted, and the calculation method is as follows:
ax,acc＝KACC(Kdx*(dx-dxsesired)+Kdv*dv)
and converting the acceleration into the driving torque of the whole vehicle through a vehicle running equation.
The motor request torque is output under the limitation of the highest torque peak value of the motor and the change slope of the motor torque.
When the acceleration is larger than the upper limit, the motor outputs positive torque to carry out drive control, when the acceleration is smaller than the upper limit and larger than the lower limit, the motor outputs negative torque to carry out braking, and when the acceleration is smaller than the lower limit, the whole vehicle basic braking is adopted.
However, the above conventional adaptive cruise control method has a certain limitation when the cruise mode and the following mode are switched, that is, when there is a vehicle in front of the vehicle is no vehicle or when there is a vehicle in front of the vehicle, the limitation is mainly expressed as: when the vehicle-following state and the vehicle-free state are switched, the target acceleration and the target speed are suddenly changed, the vehicle is suddenly decelerated, interference is caused to surrounding normally running vehicles, and therefore traffic accidents are easily caused.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides a speed following control method and system for an adaptive cruise system.
The invention provides a speed following control method of an adaptive cruise system, which comprises the following steps:
setting the length of a time period;
calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle;
taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed;
obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope;
calculating a second target vehicle speed at the end of a time period according to the first target vehicle speed and the acceleration limit value, and obtaining a target acceleration by differentiating the second target vehicle speed;
and compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle.
The preferred scheme is as follows: according to the difference value between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and after the whole vehicle driving force required by the vehicle is calculated, the method further comprises the following steps:
when the required whole vehicle driving force of the vehicle is greater than the set upper limit, the whole vehicle driving force of the vehicle is converted into an engine torque request through a transmission system and sent to a driving system;
when the vehicle demand torque is smaller than a set lower limit, the sum of the target acceleration and the compensation acceleration is sent to an electronic control braking system;
when the vehicle required torque is between the set upper and lower limits, the target actuator is kept unchanged.
The preferred scheme is as follows: the real-time calculation of the vehicle following target speed according to the vehicle distance and the vehicle speed of the vehicle and the front target vehicle further comprises the following steps:
when the distance between the vehicle and the front target vehicle is equal to the set relative distance and the vehicle speed is equal, the following target vehicle speed is equal to the speed of the front target vehicle;
when no target vehicle exists in front of the vehicle, the following target vehicle speed is the set cruising vehicle speed.
The preferred scheme is as follows: calculating the vehicle following target speed according to the current vehicle distance and the current speed of the vehicle and the front target vehicle, and the method comprises the following steps:
using formula Vacc＝K1*△S-K2*△V+VobjCalculating the target speed of the following vehicle,
wherein:
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
K1、K2respectively a distance proportionality coefficient and a speed proportionality coefficient;
delta S is the relative distance between the vehicle and the target vehicle;
Δ V is the relative speed of the host vehicle and the target vehicle;
Vobjis the target vehicle absolute speed.
The preferred scheme is as follows: the setting of the smaller one of the following target vehicle speed and the set cruising vehicle speed as the first target vehicle speed includes:
carrying out small logical operation on the following target vehicle speed and the set cruising vehicle speed by using a formula Vtar＝min(Vacc,Vcc) A first target vehicle speed is obtained,
wherein:
Vtara first target vehicle speed;
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
Vccthe cruising speed set for the driver.
The preferred scheme is as follows: the compensating the target acceleration according to the difference between the current vehicle speed and the second target vehicle speed comprises:
when the current vehicle speed of the vehicle deviates from the second target vehicle speed, the target acceleration is compensated through PID feedback control, and a formula is used:
acal＝KpΔvk+kiΔvk+kd(Δvk-Δvk-1) The compensated acceleration is calculated and,
wherein:
acalto compensate for acceleration;
kp、ki、kdproportional coefficient, integral coefficient and differential coefficient;
Δvk、Δvk-1the current sampling point speed deviation and the last sampling point speed deviation are respectively.
The preferred scheme is as follows: the calculating of the vehicle driving force required by the vehicle includes:
using a vehicle dynamics model as a feed forward model, using the formula:
F＝Ff+Fw+Fi+δm(atar+acal) The total vehicle driving force required by the vehicle is calculated,
wherein:
f is the driving force of the whole vehicle;
ataris a target acceleration;
acalto compensate for acceleration;
Ff、Fw、Firespectively rolling resistance, air resistance and ramp resistance;
and delta and m are respectively a rotational inertia conversion coefficient and the total mass of the whole vehicle.
The preferred scheme is as follows: the time period length is as follows: and calculating the vehicle following target speed once every 10-100 ms according to the current vehicle distance between the vehicle and the front target vehicle and the vehicle speed.
In another aspect of the present invention, a speed following control system of an adaptive cruise system is provided, including:
an adaptive cruise system controller for setting a time period length; calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle; taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed; obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope; calculating a second target vehicle speed at the end of a time period according to the first target vehicle speed and the acceleration limit value, and obtaining a target acceleration by differentiating the second target vehicle speed; compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle;
the forward millimeter wave radar is used for monitoring target vehicle information, the target vehicle information comprises the distance of a target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected with the adaptive cruise system controller through a CAN bus.
The preferred scheme is as follows: further comprising:
the system comprises an HMI panel and an adaptive cruise system controller, wherein the HMI panel is used for displaying vehicle information, the vehicle information comprises the distance of a target vehicle and the vehicle speed of the vehicle, and the HMI panel is connected with the adaptive cruise system controller through a CAN bus;
the vehicle control unit is used for any one or more of driving torque control, optimal control of braking energy, energy management of a whole vehicle, maintenance and management of a CAN (controller area network) network, diagnosis and treatment of faults and vehicle state monitoring, and is connected with the adaptive cruise system controller through a CAN bus.
On the basis of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention discloses a speed following control method and a speed following control system of an adaptive cruise system. And outputting a second target speed and a target acceleration under the condition that the first target speed is limited by an acceleration limit value, so that the target acceleration and the second target speed are smoothly changed without sudden change when the vehicle is switched between a following state and a non-vehicle state, and the overshoot of the speed control is greatly reduced. The vehicle is prevented from suddenly decelerating, so that the interference to the surrounding normally running vehicles is avoided, the traffic accident is easily caused, and the driving comfort is improved.
Drawings
FIG. 1 is a flow chart of a method of a first embodiment of the present invention;
FIG. 2 is a method control block diagram of an embodiment of the present invention;
FIG. 3 is a flow chart of a method of a second embodiment of the present invention
Fig. 4 is a schematic system structure according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Example 1
Referring to fig. 1 and 2, an embodiment of the present invention provides a speed following control method for an adaptive cruise system, including the following steps:
step 101, setting a time period length, the time period length of this embodiment is preferably but not limited to 10ms to 100ms, and a person skilled in the art can specifically set the time period length range according to actual needs.
102, calculating a following target vehicle speed, and when a target vehicle exists in front of the vehicle, calculating the following target vehicle speed according to the current vehicle distance and relative speed between the vehicle and the front target vehicle, wherein because the vehicle and the front target vehicle are in a running state, the vehicle distance and relative speed of the target vehicle exist in front of the vehicle are in a continuously changing state, and the following target vehicle speed is calculated once every 10-100 ms when the following target vehicle speed is calculated, and needs to be continuously updated and calculated.
When no vehicle exists in front of the vehicle, the vehicle following target vehicle speed is the cruising vehicle speed set by the vehicle.
When the relative distance between the vehicle and the front target vehicle is equal to the set relative distance and the relative speed is equal to zero, the following vehicle target vehicle speed is equal to the speed of the front target vehicle.
In a specific embodiment, in calculating the following target vehicle speed, a formula is used according to the vehicle distance and the relative speed of the host vehicle and the front target vehicle: vacc＝K1*△S-K2*△V+VobjCalculating the target speed of the following vehicle,
wherein:
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
K1、K2respectively a distance proportionality coefficient and a speed proportionality coefficient;
delta S is the relative distance between the vehicle and the target vehicle;
Δ V is the relative speed of the host vehicle and the target vehicle;
Vobjis the target vehicle absolute speed.
Step 103, calculating a first target vehicle speed, carrying out small logical operation on the following target vehicle speed and the set cruising vehicle speed, comparing the following target vehicle speed with the set cruising vehicle speed, and taking the smaller speed as the first target vehicle speed to reduce the running speed of the vehicle;
in the specific embodiment, a formula is used for carrying out small logical operation on the following target vehicle speed and the set cruising vehicle speed: vtar＝min(Vacc,Vcc) A first target vehicle speed is calculated,
wherein:
Vtara first target vehicle speed;
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
Vccthe cruising speed set for the driver.
And 104, calculating an acceleration limit value, wherein the acceleration limit value is obtained under the limit of a set maximum acceleration and deceleration threshold value and an acceleration change slope, and the acceleration limit value is used for ensuring that the acceleration of the vehicle is smoothly transited without sudden change, so that the comfort of a driver is improved.
In a specific embodiment, the acceleration limit of the vehicle is specifically set by a plurality of driving tests, since the greater the acceleration, the faster the speed change, and the greater the acceleration limitThe small going limit is within a reasonable interval and the acceleration limit is derived at a set acceleration change slope. The maximum acceleration and deceleration threshold range is as follows: 2 to 13m/s2The acceleration change slope is: -2 to 1m/s3. The acceleration limit value of the present embodiment is an empirical value, and can be looked up and retrieved from actual travel information in actual use.
Step 105, calculating a second target vehicle speed and a target acceleration, obtaining the second target vehicle speed in real time according to the first target vehicle speed and the acceleration limit value, and obtaining the target acceleration by differentiating the second target vehicle speed, wherein the steps are as follows: and the second target vehicle speed is calculated every 10ms to 100ms, and the second target vehicle speed is continuously calculated. The speed of the vehicle is adjusted by switching to the second target vehicle speed in the process that the vehicle detects the front target vehicle, so that the sudden change of the vehicle speed is avoided, traffic accidents caused by the sudden change of the vehicle speed and the uncomfortable feeling felt by a driver are reduced, and the vehicle is enabled to change speed stably. And then the second target vehicle speed is derived to obtain the target acceleration.
And 106, compensating the target acceleration through the feedback control of the PID controller according to the difference value between the current vehicle speed and the second target vehicle speed, outputting the compensated acceleration, and calculating the whole vehicle driving force required by the vehicle.
In a specific embodiment, when the actual vehicle speed of the vehicle deviates from the second target vehicle speed, the target acceleration is compensated through PID feedback control, and the formula is used:
acal＝KpΔvk+kiΔvk+kd(Δvk-Δvk-1) The compensated acceleration is output and the acceleration is compensated,
wherein:
acalto compensate for acceleration;
kp、ki、kdproportional coefficient, integral coefficient and differential coefficient;
Δvk、Δvk-1respectively, the speed deviation of the current sampling pointAnd the last sampling point speed deviation.
In the specific embodiment, the speed deviation of the sampling point is the actual speed V of the vehicle bodycurrDifference from the second target vehicle speed at the actual vehicle speed VcurrWhen the vehicle speed is greater than the second target vehicle speed, the compensation acceleration is a negative value, and the actual speed V of the vehicle body of the vehicle needs to be reducedcurrUntil the actual speed V of the vehicle body is adjustedcurrThe same as the second target vehicle speed. At the actual speed V of the vehicle bodycurrWhen the vehicle speed is less than the second target vehicle speed, the compensation acceleration is a positive value, and the actual speed V of the vehicle body needs to be increasedcurrUntil the actual speed V of the vehicle body is adjustedcurrThe same as the second target vehicle speed.
Then, calculating the whole vehicle driving force required by the vehicle by taking the vehicle dynamics model as a feedforward model;
in a particular embodiment, a vehicle dynamics model is used as a feed forward model, using the vehicle equation of travel formula: f ═ Ff+Fw+Fi+δm(atar+acal) The total vehicle driving force required by the vehicle is calculated,
wherein:
f is the driving force of the whole vehicle;
ataris a target acceleration;
acalto compensate for acceleration;
Ff、Fw、Firespectively rolling resistance, air resistance and ramp resistance;
and delta and m are respectively a rotational inertia conversion coefficient and the total mass of the whole vehicle.
Step 107, repeating the steps 102 to 106 to continuously calculate the whole vehicle driving force required by the vehicle until the actual speed V of the vehicle body of the vehicle is adjustedcurrThe same as the second target vehicle speed.
Example 2
As shown in fig. 3, the speed following control method of the adaptive cruise system according to the embodiment of the present invention is different from that of embodiment 1 in that:
and 108, judging the switching of the actuator, wherein a hysteresis algorithm is adopted when the positive and negative of the required torque are judged, and the actuator is prevented from switching back and forth at a critical switching point. The hysteresis algorithm is specifically as follows: when the required driving force of the vehicle is greater than the set upper limit, the torque of the upper limit is 100N m, and the whole vehicle driving force is converted into an engine torque request through a transmission system and is sent to a driving system; when the vehicle demand torque is smaller than the set lower limit, the torque of the lower limit is-100 N.m, and the sum of the target acceleration and the compensation acceleration is sent to an electric control braking system; when the vehicle required torque is between the set upper and lower limits, the target actuator is kept unchanged.
Example 3
As shown in fig. 3, a speed following control system of an adaptive cruise system according to an embodiment of the present invention includes:
an adaptive cruise system controller for setting a time period length; calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle; taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed; obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope; calculating a second target vehicle speed at the end of a time period according to the first target vehicle speed and the acceleration limit value, and obtaining a target acceleration by differentiating the second target vehicle speed; and compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle.
The forward millimeter wave radar is used for monitoring information of the target vehicle, the information of the target vehicle comprises the distance of the target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected with the adaptive cruise system controller through the CAN bus.
The self-adaptive cruise control system comprises an HMI panel and a controller, wherein the HMI panel is used for displaying self-vehicle information, the self-vehicle information comprises the distance of a target vehicle and the speed of the self-vehicle, and the HMI panel is connected with the controller of the self-adaptive cruise control system through a CAN bus.
The vehicle control unit is used for any one or more of driving torque control, optimal control of braking energy, energy management of the whole vehicle, maintenance and management of a CAN (controller area network) network, fault diagnosis and treatment and vehicle state monitoring, and is connected with the adaptive cruise system controller through a CAN bus.
Various modifications and variations of the embodiments of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention, provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (10)
1. A speed following control method of an adaptive cruise system, comprising the steps of:
setting the length of a time period;
calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle;
taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed;
obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope;
calculating a second target vehicle speed at the end of a time period according to the first target vehicle speed and the acceleration limit value, and obtaining a target acceleration by differentiating the second target vehicle speed;
and compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle.
2. A speed follow control method of an adaptive cruise system according to claim 1,
according to the difference value between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and after the whole vehicle driving force required by the vehicle is calculated, the method further comprises the following steps:
when the required whole vehicle driving force of the vehicle is greater than the set upper limit, the whole vehicle driving force of the vehicle is converted into an engine torque request through a transmission system and sent to a driving system;
when the vehicle demand torque is smaller than a set lower limit, the sum of the target acceleration and the compensation acceleration is sent to an electronic control braking system;
when the vehicle required torque is between the set upper and lower limits, the target actuator is kept unchanged.
3. A speed follow control method of an adaptive cruise system according to claim 1,
the real-time calculation of the vehicle following target speed according to the vehicle distance and the vehicle speed of the vehicle and the front target vehicle further comprises the following steps:
when the distance between the vehicle and the front target vehicle is equal to the set relative distance and the vehicle speed is equal, the following target vehicle speed is equal to the speed of the front target vehicle;
when no target vehicle exists in front of the vehicle, the following target vehicle speed is the set cruising vehicle speed.
4. A speed follow control method of an adaptive cruise system according to claim 1,
calculating the vehicle following target speed according to the current vehicle distance and the current speed of the vehicle and the front target vehicle, and the method comprises the following steps:
using formula Vacc＝K1*△S-K2*△V+VobjCalculating the target speed of the following vehicle,
wherein:
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
K1、K2respectively a distance proportionality coefficient and a speed proportionality coefficient;
delta S is the relative distance between the vehicle and the target vehicle;
Δ V is the relative speed of the host vehicle and the target vehicle;
Vobjis the target vehicle absolute speed.
5. A speed follow control method of an adaptive cruise system according to claim 1,
the setting of the smaller one of the following target vehicle speed and the set cruising vehicle speed as the first target vehicle speed includes:
carrying out small logical operation on the following target vehicle speed and the set cruising vehicle speed by using a formula Vtar＝min(Vacc,Vcc) A first target vehicle speed is obtained,
wherein:
Vtara first target vehicle speed;
Vaccthe target vehicle speed is the vehicle following target vehicle speed;
Vccthe cruising speed set for the driver.
6. A speed follow control method of an adaptive cruise system according to claim 1,
the compensating the target acceleration according to the difference between the current vehicle speed and the second target vehicle speed comprises:
when the current vehicle speed of the vehicle deviates from the second target vehicle speed, the target acceleration is compensated through PID feedback control, and a formula is used:
acal＝KpΔvk+kiΔvk+kd(Δvk-Δvk-1) The compensated acceleration is calculated and,
wherein:
acalto compensate for acceleration;
kp、ki、kdproportional coefficient, integral coefficient and differential coefficient;
Δvk、Δvk-1the current sampling point speed deviation and the last sampling point speed deviation are respectively.
7. The speed follow control method of an adaptive cruise system according to claim 6, wherein said calculating the total vehicle driving force required by the host vehicle comprises:
using a vehicle dynamics model as a feed forward model, using the formula:
F＝Ff+Fw+Fi+δm(atar+acal) The total vehicle driving force required by the vehicle is calculated,
wherein:
f is the driving force of the whole vehicle;
ataris a target acceleration;
acalto compensate for acceleration;
Ff、Fw、Firespectively rolling resistance, air resistance and ramp resistance;
and delta and m are respectively a rotational inertia conversion coefficient and the total mass of the whole vehicle.
8. A speed following control method of an adaptive cruise system according to claim 1, characterized in that:
the time period length is as follows: and calculating the vehicle following target speed once every 10-100 ms according to the current vehicle distance between the vehicle and the front target vehicle and the vehicle speed.
9. A speed follow control system for an adaptive cruise system, comprising:
an adaptive cruise system controller for setting a time period length; calculating the vehicle following target speed according to the current vehicle distance and speed between the vehicle and the front target vehicle; taking the smaller one of the following target vehicle speed and the set cruising speed as a first target vehicle speed; obtaining an acceleration limit value according to the maximum acceleration and deceleration threshold value and the acceleration change slope; calculating a second target vehicle speed at the end of a time period according to the first target vehicle speed and the acceleration limit value, and obtaining a target acceleration by differentiating the second target vehicle speed; compensating the target acceleration according to the difference value between the current vehicle speed and the second target vehicle speed, and calculating the whole vehicle driving force required by the vehicle;
the forward millimeter wave radar is used for monitoring target vehicle information, the target vehicle information comprises the distance of a target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected with the adaptive cruise system controller through a CAN bus.
10. A speed following control system for an adaptive cruise system, as recited in claim 9, further comprising:
the system comprises an HMI panel and an adaptive cruise system controller, wherein the HMI panel is used for displaying vehicle information, the vehicle information comprises the distance of a target vehicle and the vehicle speed of the vehicle, and the HMI panel is connected with the adaptive cruise system controller through a CAN bus;
the vehicle control unit is used for any one or more of driving torque control, optimal control of braking energy, energy management of a whole vehicle, maintenance and management of a CAN (controller area network) network, diagnosis and treatment of faults and vehicle state monitoring, and is connected with the adaptive cruise system controller through a CAN bus.
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| WO2021093341A1 (en) * | 2019-11-14 | 2021-05-20 | 东风商用车有限公司 | Speed following control method and system for adaptive cruise control system |
| CN112947047A (en) * | 2021-01-26 | 2021-06-11 | 重庆长安汽车股份有限公司 | Automatic driving acceleration control method based on self-adaptive PID algorithm |
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| WO2021093341A1 (en) | 2021-05-20 |
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