CN111267850B - Vehicle self-adaptive cruise control method and device - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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Abstract
The invention discloses a vehicle self-adaptive cruise control method and device. The method comprises the following steps: acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position; calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance; calculating a first value according to the speed change and the speed change distance; determining the following time distances of the vehicle at each speed change position according to the corresponding relation between the first numerical values and the following vehicle distances, and determining the following vehicle distances corresponding to the maximum first numerical values as the following vehicle distances of the vehicle; the running speed is adjusted by utilizing the following distance of the vehicle. According to the invention, the following time distances of the vehicle at different speed change positions are obtained, the following time distance corresponding to the first numerical value at the maximum speed change position is determined as the current following time distance of the vehicle, and in the determination of the following time distance, the driving speed of the vehicle is adjusted according to the current following time distance in consideration of the influence of the vehicle performance change of the vehicle on the following effect, so that the driving safety and the driving experience of a user are improved.
Description
Technical Field
The invention relates to the technical field of vehicle automatic control, in particular to a vehicle self-adaptive cruise control method and device.
Background
The Adaptive Cruise Control (ACC) is an intelligent automatic control technology, combines safe vehicle distance keeping control on the basis of the traditional constant-speed cruise control, monitors the front running environment through an environment information sensing module, cruises at a preset speed when no vehicle or the front vehicle is far out of the safe vehicle distance, and automatically follows the front vehicle to run with a certain control strategy when the front vehicle is within the monitoring range and the speed of the front vehicle is less than the speed of the cruise vehicle. When the vehicle runs following the front vehicle, the vehicle speed is adjusted according to the following vehicle distance mainly under the condition that the vehicle safety distance is certain, so that the running speed of the vehicle is controlled. Among the prior art, the vehicle following interval is predetermined fixed value usually, and during concrete operation, the driver can be by oneself input, and this just makes the influence of the car machine performance change condition of vehicle self can not considered with the setting of vehicle following interval to the car following effect, and then leads to vehicle control to be not conform to actual operation needs, has safe risk.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide a method and an apparatus for vehicle adaptive cruise control. The technical scheme is as follows:
in one aspect, a vehicle adaptive cruise control method is provided, the method comprising:
acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position;
calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance;
calculating a first numerical value according to the speed change and the speed change distance;
determining the following time distances of the vehicle at each speed change position according to the corresponding relation between the first numerical values and the following vehicle distances, and determining the following vehicle distances corresponding to the first numerical values at most as the following vehicle distances of the vehicle;
and adjusting the running speed by utilizing the following distance of the vehicle.
Further, the first numerical value is a sum of the shift speed and the shift distance weighted.
Further, each of the shift positions includes position information when a shift is started and position information when a shift is ended on a different link.
Further, the method further comprises: and when the number of the first numerical values larger than the preset threshold exceeds the preset number, sending prompt information to remind a user of closing the automatic speed changing function.
In another aspect, there is provided a vehicle adaptive cruise control apparatus, the apparatus including:
the parameter acquisition module is used for acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position;
the calculation module is used for calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance, and calculating a first numerical value according to the speed of each speed change position and the speed change distance;
the following vehicle distance determining module is used for determining the following vehicle distance at each speed change position of the vehicle according to the corresponding relation between the first numerical value and the following vehicle distance, and determining the following vehicle distance corresponding to the maximum first numerical value as the following vehicle distance of the vehicle;
and the speed control module is used for adjusting the running speed by utilizing the following distance of the vehicle.
Further, the first numerical value is a sum of the shift speed and the shift distance weighted.
Further, each of the shift positions includes position information when a shift is started and position information when a shift is ended on a different link.
Further, the apparatus further comprises:
and the prompting module is used for sending prompting information to remind a user to close the automatic speed changing function when the number of the first numerical values larger than the preset threshold exceeds the preset number.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
1. the invention discloses a vehicle self-adaptive cruise control method and a vehicle self-adaptive cruise control device, which are used for acquiring vehicle following time distances of a vehicle at different speed change positions, determining the vehicle following time distance corresponding to a first numerical value at the most speed change positions as the current vehicle following time distance of the vehicle, and adjusting the running speed of the vehicle according to the current vehicle following time distance by considering the influence of vehicle-mounted machine performance change on the vehicle following effect in the determination of the vehicle following time distance, so that the driving safety and the driving experience of a user are improved;
2. according to the vehicle adaptive cruise control method and device, the warning signals are judged according to the number of the first numerical values larger than the preset threshold value, and when the vehicle-mounted condition of the vehicle is not suitable for the adaptive cruise system, other vehicle users can be reminded to change the self-adaptive cruise control mode into manual control mode.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for adaptive cruise control of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a module of an adaptive cruise control device for a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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.
Adaptive cruise is an automatic control technique for a vehicle that allows a vehicle cruise control system to adapt to traffic conditions by adjusting the speed at which the vehicle is traveling. The main principle is as follows: the method comprises the steps of detecting the traveling speed of a front vehicle through a radar installed in front of the vehicle, and adjusting the traveling speed of the vehicle according to a preset safety distance and a following distance. The following time interval is also called a vehicle head time interval, and refers to the time interval of two continuous vehicle head end parts passing through a certain end face in a vehicle queue running on the same lane, and the relationship between the following time interval and the following distance and the vehicle running speed is represented by the following formula:
distance between following vehicles is equal to distance between following vehicles times speed of vehicle
According to the formula, the vehicle speed is adjusted through the vehicle following distance and the preset vehicle following distance in the prior art, however, the influence of the change of the vehicle machine performance of the vehicle on the vehicle following effect is hardly reflected only through the preset fixed vehicle following distance, the calculated vehicle speed is inconsistent with the actual demand, the actual vehicle following distance is smaller than the safe vehicle following distance, the rear-end collision risk occurs, or the vehicle following distance is too large, and the traveling speed of the vehicle is influenced.
Therefore, in order to solve the above technical problems, an embodiment of the present invention discloses a method and a device for controlling a vehicle adaptive cruise, and a specific technical solution is as follows.
Example 1
As shown in fig. 1, there is provided a vehicle adaptive cruise control method including:
s1, acquiring the speed of the vehicle before gear shifting, the speed of the vehicle after gear shifting and the gear shifting distance of the vehicle at each gear shifting position;
s2, calculating the speed of each gear position according to the vehicle speed before gear shifting, the vehicle speed after gear shifting and the gear shifting distance;
s3, calculating a first numerical value according to the speed change and the speed change distance;
s4, determining the following time distances of the vehicle at each speed change position according to the corresponding relation between the first numerical values and the following vehicle distances, and determining the following vehicle distances corresponding to the maximum first numerical values as the following vehicle distances of the vehicle;
and S5, adjusting the running speed by using the following distance of the vehicle.
In the above method, the vehicle speed before shifting in step S1 is generally the vehicle speed at the time of starting shifting, the vehicle speed after shifting is generally the vehicle speed at the time of ending shifting, the shifting distance is generally the distance between the starting shifting position and the ending shifting position, and the shifting positions generally include: the vehicle position information at the time of starting the gear shift and the vehicle position information at the time of finishing the gear shift, and both the position information. The method wherein the shifting comprises: acceleration or deceleration, and accordingly the speed change in step S2 includes: acceleration or deceleration. The first value is a sum of the shift speed and the shift distance weighted. The calculation method of the first numerical value and the determination method of the following vehicle distance in steps S3 and S4 include two cases corresponding to two cases of the gear shift:
first, influence of vehicle deceleration performance on following time distance in a certain road section
The calculation of the first numerical value specifically includes the following formula:
sreducing＝K1aReducing+K2x
Wherein s isReducingIs a first value at the time of deceleration of the vehicle, aReducingFor speed, x is the shift distance, K1And K2Respectively a variable speed aReducingAnd distance of speed changex, the value of which can be determined by experience or machine learning based on sample data, and the specific determination method is not limited in the embodiments of the present invention, K1And K2May be (0, 1).
The correspondence between the first value and the following vehicle distance may be: a range of values of a first value corresponding to a following distance, e.g. when sReducing∈[s1,s2]When the corresponding car-following distance tau is tau1Or when s isReducing∈[s1,s2]When the corresponding car following distance is s1Corresponding car following distance tau is tau1And so on.
Second, the influence of the acceleration performance of the vehicle on a certain road section on the following time interval
The calculation of the first numerical value specifically includes the following formula:
sadding＝K3aAdding+K4x
Wherein s isAddingIs a first value at the time of deceleration of the vehicle, aAddingFor speed, x is the shift distance, K3And K4Respectively a variable speed aAddingAnd a weight value of the shift distance x, the value of which may be determined empirically or based on sample data by machine learning, the embodiment of the present invention is not limited, K3And K4May be (0, 1).
The correspondence between the first value and the following vehicle distance may be: a range of values of a first value corresponding to a following distance, e.g. when sAdding∈[s1,s2]When the corresponding car-following distance tau is tau1Or when s isAdding∈[s1,s2]When the corresponding car following distance is s1Corresponding car following distance tau is tau1And so on.
After the first numerical values and the corresponding car following distances of all road sections are calculated, the car following time distances corresponding to the first numerical values with the largest quantity are determined to be the car following distances of the car. For example: first values of the vehicle at 10 shift positions and corresponding following distances are calculated, wherein 8 first values are providedThe following time distance corresponding to the numerical value is tau1Then τ is determined1The following distance of the vehicle.
In step S5, the driving speed is adjusted by using the following distance of the vehicle, which may be specifically adjusted according to the following formula:
c＝τv
wherein c is the following distance, tau is the following distance, and v is the running speed of the vehicle.
And under the condition of meeting a certain following distance c, adjusting the vehicle running speed v according to the following distance tau.
Further, there is a case where the number of the first values larger than the preset threshold exceeds the preset number, and at this time, the vehicle performance of the vehicle is not good, which may cause the vehicle to be out of control. Therefore, the method disclosed by the embodiment of the invention further comprises the following steps:
and S6, when the number of the first numerical values larger than the preset threshold exceeds the preset number, sending a prompt message to remind a user to close the automatic speed changing function, and changing the automatic speed changing function into manual control. For example, assuming that the preset number is 5, a first numerical value of the vehicle at 10 gear positions and corresponding following time intervals are calculated, wherein 8 of the following time intervals corresponding to the first numerical values exceed a preset threshold value s of the first numerical valuenThen prompt information is sent.
Example 2
As shown in fig. 2, the present embodiment discloses a vehicle adaptive cruise control apparatus on the basis of embodiment 1, including:
the parameter acquisition module is used for acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position;
the calculation module is used for calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance, and calculating a first numerical value according to the speed of each speed change and the speed change distance;
the following vehicle distance determining module is used for determining the following vehicle distance of the vehicle at each speed change position according to the corresponding relation between the first numerical value and the following vehicle distance, and determining the following vehicle distance corresponding to the maximum first numerical value as the following vehicle distance of the vehicle;
and the speed control module is used for adjusting the running speed by utilizing the following vehicle distance of the vehicle.
In the above apparatus, it should be noted that the parameter obtaining module includes: the speed measuring module, the positioning module and the distance measuring module are used for obtaining the speed before speed change, wherein the speed before speed change usually refers to the speed when starting speed change, the speed after speed change usually refers to the speed when finishing speed change, the speed change distance usually refers to the distance between the starting speed change position and the finishing speed change position, and the speed change position usually comprises: the vehicle position information at the time of starting the gear shift and the vehicle position information at the time of finishing the gear shift, and both the position information.
The calculation module includes two cases in calculating the speed of change and the first numerical value:
first, influence of vehicle deceleration performance on following time distance in a certain road section
The calculation of the first numerical value specifically includes the following formula:
sreducing＝K1aReducing+K2x
Wherein s isReducingIs a first value at the time of deceleration of the vehicle, aReducingFor speed, x is the shift distance, K1And K2Respectively a variable speed aReducingAnd a weight value of the shift distance x, the value of which may be determined empirically or based on sample data by machine learning, the embodiment of the present invention is not limited, K1And K2May be (0, 1).
The correspondence between the first value and the following vehicle distance may be: a range of values of a first value corresponding to a following distance, e.g. when sReducing∈[s1,s2]When the corresponding car-following distance tau is tau1Or when s isReducing∈[s1,s2]When the corresponding car following distance is s1Corresponding car following distance tau is tau1And so on.
Second, the influence of the acceleration performance of the vehicle on a certain road section on the following time interval
The calculation of the first numerical value specifically includes the following formula:
sadding＝K3aAdding+K4x
Wherein s isAddingIs a first value at the time of deceleration of the vehicle, aAddingFor speed, x is the shift distance, K3And K4Respectively a variable speed aAddingAnd a weight value of the shift distance x, the value of which may be determined empirically or based on sample data by machine learning, the embodiment of the present invention is not limited, K3And K4May be (0, 1).
The correspondence between the first value and the following vehicle distance may be: a range of values of a first value corresponding to a following distance, e.g. when sAdding∈[s1,s2]When the corresponding car-following distance tau is tau1Or when s isAdding∈[s1,s2]When the corresponding car following distance is s1Corresponding car following distance tau is tau1And so on.
After the following vehicle distance determining module calculates the first numerical values of all road sections and the corresponding following vehicle distances, the following vehicle distance corresponding to the first numerical value with the largest quantity is determined to be the following vehicle distance of the vehicle. For example: first values of the vehicle at 10 gear positions and corresponding following time distances are calculated, wherein 8 first values correspond to the following time distances tau1Then τ is determined1The following distance of the vehicle.
The speed control module adjusts the running speed by utilizing the following distance of the vehicle, and can specifically adjust according to the following formula:
c＝τv
wherein c is the following distance, tau is the following distance, and v is the running speed of the vehicle.
And under the condition of meeting a certain following distance c, adjusting the vehicle running speed v according to the following distance tau.
Further, the vehicle adaptive cruise control apparatus disclosed in the embodiment of the present invention further includes:
and the prompting module is used for sending prompting information to remind a user to close the automatic speed changing function when the number of the first numerical values larger than the preset threshold exceeds the preset number. For example, assuming that the predetermined number is 5, the calculation is madeThe first numerical values of the vehicle at 10 speed change positions and the corresponding following time distances of the vehicle are obtained, wherein the following time distances corresponding to 8 first numerical values exceed a preset threshold value s of the first numerical valuesnThen prompt information is sent.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
1. the invention discloses a vehicle self-adaptive cruise control method and a vehicle self-adaptive cruise control device, which are used for acquiring vehicle following time distances of a vehicle at different speed change positions, determining the vehicle following time distance corresponding to a first numerical value at the most speed change positions as the current vehicle following time distance of the vehicle, and adjusting the running speed of the vehicle according to the current vehicle following time distance by considering the influence of vehicle-mounted machine performance change on the vehicle following effect in the determination of the vehicle following time distance, so that the driving safety and the driving experience of a user are improved;
2. according to the vehicle adaptive cruise control method and device, the warning signals are judged according to the number of the first numerical values larger than the preset threshold value, and when the vehicle-mounted condition of the vehicle is not suitable for the adaptive cruise system, other vehicle users can be reminded to change the self-adaptive cruise control mode into manual control mode.
All the above-mentioned optional technical solutions can be combined arbitrarily to form the optional embodiments of the present invention, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A vehicle adaptive cruise control method, comprising:
acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position;
calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance; it is characterized in that the preparation method is characterized in that,
calculating a first numerical value according to the speed change and the speed change distance;
determining the following time distances of the vehicle at each speed change position according to the corresponding relation between the first numerical values and the following vehicle distances, and determining the following vehicle distances corresponding to the first numerical values at most as the following vehicle distances of the vehicle;
and adjusting the running speed by utilizing the following distance of the vehicle.
2. A vehicle adaptive cruise control method according to claim 1, characterized in that said first numerical value is a weighted sum of said speed change and said speed change distance.
3. A vehicle adaptive cruise control method according to claim 1, characterized in that each of said shift positions comprises position information at the start of a shift and position information at the end of a shift in different road sections.
4. A vehicle adaptive cruise control method according to any of claims 1-3, characterized in that it further comprises:
and when the number of the first numerical values larger than the preset threshold exceeds the preset number, sending prompt information to remind a user of closing the automatic speed changing function.
5. A vehicle adaptive cruise control apparatus comprising:
the parameter acquisition module is used for acquiring the speed of the vehicle before speed change, the speed of the vehicle after speed change and the speed change distance of the vehicle at each speed change position;
the calculation module is used for calculating the speed of each speed change position according to the speed before speed change, the speed after speed change and the speed change distance; it is characterized in that the preparation method is characterized in that,
the calculation module is further used for calculating a first numerical value according to the speed change and the speed change distance;
the device further comprises:
the following vehicle distance determining module is used for determining the following vehicle distance at each speed change position of the vehicle according to the corresponding relation between the first numerical value and the following vehicle distance, and determining the following vehicle distance corresponding to the maximum first numerical value as the following vehicle distance of the vehicle;
and the speed control module is used for adjusting the running speed by utilizing the following distance of the vehicle.
6. A vehicle adaptive cruise control apparatus according to claim 5, wherein said first numerical value is a weighted sum of said speed change degree and said speed change distance.
7. A vehicle adaptive cruise control according to claim 5, wherein each of said shift positions comprises position information at the start of a shift and position information at the end of a shift on different road segments.
8. A vehicle adaptive cruise control apparatus according to any of claims 5 to 7, characterized in that said apparatus further comprises:
and the prompting module is used for sending prompting information to remind a user to close the automatic speed changing function when the number of the first numerical values larger than the preset threshold exceeds the preset number.
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| PCT/CN2020/109179 WO2021147307A1 (en) | 2020-01-22 | 2020-08-14 | Vehicle adaptive cruise control method and apparatus |
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| CN111267850B (en) * | 2020-01-22 | 2021-08-06 | 东风小康汽车有限公司重庆分公司 | Vehicle self-adaptive cruise control method and device |
| CN111845745B (en) * | 2020-07-28 | 2021-10-22 | 湖南大学 | Vehicle queue control method and system considering economy |
| CN115246393A (en) * | 2022-09-22 | 2022-10-28 | 毫末智行科技有限公司 | Method and device for controlling vehicle following distance, electronic device and storage medium |
| CN115593438B (en) * | 2022-11-25 | 2023-03-21 | 小米汽车科技有限公司 | Car following method, car following device and storage medium |
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| Publication number | Publication date |
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| CN111267850A (en) | 2020-06-12 |
| WO2021147307A1 (en) | 2021-07-29 |
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