CN112373466A - Cruise control method added with vehicle-mounted navigation information - Google Patents

Cruise control method added with vehicle-mounted navigation information Download PDF

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Publication number
CN112373466A
CN112373466A CN202011085782.5A CN202011085782A CN112373466A CN 112373466 A CN112373466 A CN 112373466A CN 202011085782 A CN202011085782 A CN 202011085782A CN 112373466 A CN112373466 A CN 112373466A
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Prior art keywords
vehicle
speed
deceleration
navigation information
state
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CN202011085782.5A
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Chinese (zh)
Inventor
罗覃月
赵小羽
陈程
林智桂
姜洪亮
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SAIC GM Wuling Automobile Co Ltd
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SAIC GM Wuling Automobile Co Ltd
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Priority to CN202011085782.5A priority Critical patent/CN112373466A/en
Publication of CN112373466A publication Critical patent/CN112373466A/en
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a cruise control method added with vehicle-mounted navigation information. The method comprises the following steps: acquiring navigation information from a vehicle navigation interface in real time through a CAN (controller area network); comparing the distance between the maneuvering point and the vehicle with the set threshold value; if the distance is smaller than the set threshold value and the vehicle is in the deceleration state at present, maintaining the current deceleration state; calculating the speed reduction amount of unit time, and broadcasting voice information for prompting deceleration; if the accelerator is stepped on, stopping broadcasting the voice information, and waiting for the state to end; and sending a deceleration command to an execution unit, and controlling the vehicle to change the vehicle speed according to the speed reduction amount of the unit time. The invention can solve the problems that the existing self-adaptive cruise system can only control the speed of the vehicle according to the motion state of the vehicle in front, cannot give consideration to other traffic conditions of the road, cannot decelerate and slowly pass through maneuvering points such as an intersection and the like in advance, and is easy to cause driving safety and the like.

Description

Cruise control method added with vehicle-mounted navigation information
Technical Field
The invention belongs to the technical field of intelligent driving, and particularly relates to a cruise control method for adding vehicle-mounted navigation information.
Background
The current self-adaptive cruise system detects a front object according to a vehicle-mounted sensor, and controls self-adaptive cruise speed change of a vehicle by detecting information such as acceleration of the front vehicle, distance between the vehicle and the front vehicle, speed of the front vehicle and the like if the front vehicle exists; if there is no vehicle in front, the vehicle is controlled to run according to the cruising speed set by the vehicle.
The existing adaptive cruise system has the following problems: the cruise control mode is single, the speed of the vehicle can be controlled only according to the motion state of the vehicle in front, other traffic conditions of a road cannot be considered, a driver is required to step on a brake to decelerate at maneuvering points such as an intersection, the vehicle frequently cruises and exits a program, and the experience is poor; the information of maneuvering points such as schools, ramps, vehicles entering, accident high-speed road sections, front intersections and the like in front cannot be sensed, and the vehicle cannot slow down and slowly pass through in advance, so that the problem of driving safety is caused.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a cruise control method added with vehicle-mounted navigation information.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cruise control method added with vehicle navigation information comprises the following steps:
step 1, acquiring navigation information from a vehicle navigation interface in real time through a CAN network;
step 2, if the current navigation information contains maneuvering point information, comparing the distance between the maneuvering point and the vehicle and the size of a set threshold, wherein the maneuvering point comprises a front intersection, a school road section and a ramp opening;
step 3, if the distance is smaller than a set threshold value, judging whether the vehicle is in a deceleration state at present, and if so, maintaining the current deceleration state; otherwise, turning to the next step;
step 4, calculating the speed reduction amount in unit time, and broadcasting voice information for prompting deceleration;
step 5, reading the position of an accelerator pedal, judging whether the accelerator pedal is in an accelerator-stepping active acceleration state or not according to the position, if so, stopping broadcasting voice information, and waiting for the state to end; otherwise, turning to the next step;
and 6, sending a deceleration command to the execution unit, and controlling the vehicle to change the vehicle speed according to the speed reduction amount of the unit time.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, vehicle-mounted navigation information is introduced into the adaptive cruise system to obtain maneuvering point information of a front intersection, a school road section, a ramp junction and the like, when the distance between the maneuvering point and the vehicle is smaller than a set threshold value, the vehicle is controlled to automatically decelerate, and the problems that the speed of the vehicle can be controlled only according to the movement state of the vehicle in front, other traffic conditions of a road cannot be considered, the vehicle cannot be decelerated and slowly passed in advance at maneuvering points such as the intersection and the like, a driver is required to step on a brake to decelerate, the cruise program is frequently exited, the experience is poor, the driving safety is even caused and the like in the conventional adaptive cruise system can be solved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure related to a cruise control method incorporating vehicle navigation information according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention provides a cruise control method added with vehicle-mounted navigation information, which comprises the following steps:
s101, acquiring navigation information from a vehicle navigation interface in real time through a CAN (controller area network);
s102, if the current navigation information contains maneuvering point information, comparing the distance between the maneuvering point and the vehicle and setting the threshold value, wherein the maneuvering point comprises a front intersection, a school road section and a ramp opening;
s103, if the distance is smaller than a set threshold value, judging whether the vehicle is in a deceleration state at present, and if so, maintaining the current deceleration state; otherwise, turning to the next step;
s104, calculating the speed reduction amount in unit time, and broadcasting voice information for prompting speed reduction;
s105, reading the position of an accelerator pedal, judging whether the accelerator pedal is in an accelerator-stepping active acceleration state or not according to the position, if so, stopping broadcasting voice information, and waiting for the state to end; otherwise, turning to the next step;
and S106, sending a deceleration command to the execution unit, and controlling the vehicle to change the vehicle speed according to the speed reduction amount of the unit time.
In the present embodiment, step S101 is mainly used to acquire the car navigation information. In the embodiment, vehicle navigation is introduced into an adaptive cruise system, and the related hardware circuit structure is shown in fig. 1. In fig. 1, the adaptive cruise unit is connected with the ranging radar, the camera and the execution unit through the CAN bus to form a hardware structure of the adaptive cruise system. The distance measuring radar and the camera belong to vehicle-mounted sensors and are used for detecting information of a front vehicle, such as relative distance, relative speed, acceleration and the like of the vehicle; the self-adaptive cruise unit is a control and data processing center, processes data input by the vehicle-mounted sensor and outputs a control instruction to the execution unit according to a certain algorithm; the execution unit is used for executing instructions such as steering, acceleration and deceleration and the like sent by the adaptive cruise unit and controlling the running of the vehicle. The self-adaptive cruise unit is connected with a vehicle machine on the automobile through a CAN bus. Because the car machine is provided with navigation software, the self-adaptive cruise unit can acquire the car navigation information through the car machine navigation interface.
In this embodiment, step S102 is mainly used to determine whether to approach a maneuvering point such as a front intersection, a school road section, a ramp junction, and the like. When the vehicle approaches the maneuvering point, the vehicle-mounted navigation information is prompted and the distance between the maneuvering point and the vehicle is given. And judging whether the vehicle approaches the maneuvering point so as to start to control the automatic deceleration of the vehicle by comparing the distance between the maneuvering point and the vehicle with the set threshold value.
In this embodiment, step S103 is mainly used to determine whether the host vehicle is currently in a deceleration state when the distance between the maneuvering point and the host vehicle is smaller than a set threshold. If the speed of the automobile is not reduced, the automobile is decelerated at the speed reducing state, and the automobile is not required to be specially output to reduce the speed of the automobile; otherwise, the vehicle is shifted to the next step to prepare for automatic deceleration of the vehicle.
In this embodiment, step S104 is mainly used to calculate the speed reduction amount per unit time, and broadcast the voice message prompting deceleration. The velocity reduction amount per unit time is a deceleration value (negative acceleration), and the magnitude thereof is related to the current velocity of the host vehicle, the distance between the host vehicle and the maneuvering point, the maximum speed limit of the maneuvering point, and the like.
In the present embodiment, step S105 is mainly used to determine whether the vehicle is in an accelerator-on active acceleration state, so as to determine whether to decelerate immediately. If the driver is detected to be stepping on the accelerator for active acceleration, the accelerator control device should respond to the acceleration request of the driver preferentially, and then sends a deceleration instruction after the accelerator is released; of course, the voice broadcast should be cut off during the waiting period. The position of the accelerator pedal can be read, and whether the driver is stepping on the accelerator for active acceleration or not is judged according to the change of the position.
In the present embodiment, step S106 is mainly used to control the host vehicle to decelerate by sending a deceleration instruction to the execution unit. Therefore, the automobile can be stably decelerated to the safe speed required by the maneuvering point, the driver can be prevented from frequently stepping on the brake temporarily, and safe driving is facilitated.
As an alternative embodiment, the S103 determines whether the vehicle is currently in a deceleration state according to whether a deceleration instruction has been sent to the execution unit within a period of time before the current time, or according to a speed variation by reading the vehicle speed.
The present embodiment provides a technical solution for determining whether the host vehicle is currently in a deceleration state. This example presents two methods: firstly, whether a deceleration instruction is just sent to the execution unit or not is judged, and if so, the automobile is decelerated; and secondly, the variation of the speed is calculated by reading the speed of the automobile, and if the speed of the automobile is decreasing, the automobile is decelerated. Of course, the rate of decrease in vehicle speed should be greater than the set threshold.
As an alternative embodiment, the S104 calculates the speed reduction amount a per unit time according to the following formula:
Figure BDA0002720301270000041
where v is the current speed of the vehicle and v is0And S is the distance between the vehicle and the maneuvering point.
This embodiment provides a technical solution for calculating the speed reduction amount per unit time. The velocity reduction per unit time is the opposite of the acceleration. The above calculation formula can be obtained according to the kinematics principle on the assumption that the automobile does uniform deceleration motion.
The above description is only for the purpose of illustrating a few embodiments of the present invention, and should not be taken as limiting the scope of the present invention, in which all equivalent changes, modifications, or equivalent scaling-up or down, etc. made in accordance with the spirit of the present invention should be considered as falling within the scope of the present invention.

Claims (3)

1. A cruise control method added with vehicle navigation information is characterized by comprising the following steps:
step 1, acquiring navigation information from a vehicle navigation interface in real time through a CAN network;
step 2, if the current navigation information contains maneuvering point information, comparing the distance between the maneuvering point and the vehicle and the size of a set threshold, wherein the maneuvering point comprises a front intersection, a school road section and a ramp opening;
step 3, if the distance is smaller than a set threshold value, judging whether the vehicle is in a deceleration state at present, and if so, maintaining the current deceleration state; otherwise, turning to the next step;
step 4, calculating the speed reduction amount in unit time, and broadcasting voice information for prompting deceleration;
step 5, reading the position of an accelerator pedal, judging whether the accelerator pedal is in an accelerator-stepping active acceleration state or not according to the position, if so, stopping broadcasting voice information, and waiting for the state to end; otherwise, turning to the next step;
and 6, sending a deceleration command to the execution unit, and controlling the vehicle to change the vehicle speed according to the speed reduction amount of the unit time.
2. The cruise control method according to claim 1, wherein step 3 determines whether the vehicle is currently in a deceleration state according to whether a deceleration command has been sent to the execution unit within a period of time before the current time or according to a speed variation by reading a vehicle speed.
3. The cruise control method incorporating vehicle navigation information according to claim 1, wherein said step 4 calculates a speed reduction amount a per unit time according to the following equation:
Figure FDA0002720301260000011
where v is the current speed of the vehicle and v is0And S is the distance between the vehicle and the maneuvering point.
CN202011085782.5A 2020-10-12 2020-10-12 Cruise control method added with vehicle-mounted navigation information Pending CN112373466A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113715818A (en) * 2021-08-30 2021-11-30 岚图汽车科技有限公司 Navigation-based adaptive cruise method and system

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Publication number Priority date Publication date Assignee Title
CN101945786A (en) * 2008-09-25 2011-01-12 日立汽车系统株式会社 A vehicular deceleration aiding device
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CN202987135U (en) * 2012-11-08 2013-06-12 长安大学 Device for identifying speed reducing prediction behavior before corner
CN103171555A (en) * 2013-03-13 2013-06-26 浙江工业大学 System for active collision avoidance at crossroad
CN103185600A (en) * 2011-12-30 2013-07-03 上海博泰悦臻电子设备制造有限公司 Navigation system, and navigation method and device
CN103381806A (en) * 2013-08-13 2013-11-06 北京汽车股份有限公司 Method and device for warning of braking of vehicle and vehicle
CN104960518A (en) * 2015-06-17 2015-10-07 奇瑞汽车股份有限公司 Method and device of reminding driver
CN107531239A (en) * 2015-04-29 2018-01-02 克诺尔商用车制动系统有限公司 The method and apparatus that speed for vehicle is adjusted
CN108189838A (en) * 2017-12-30 2018-06-22 吉利汽车研究院（宁波）有限公司 A kind of pattern of fusion adaptive cruise curve control method and device
CN109050529A (en) * 2018-07-27 2018-12-21 吉利汽车研究院（宁波）有限公司 Cruise speed controller and method under a kind of ring road scene

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101945786A (en) * 2008-09-25 2011-01-12 日立汽车系统株式会社 A vehicular deceleration aiding device
CN102001338A (en) * 2010-10-28 2011-04-06 奇瑞汽车股份有限公司 Control method and device for safe driving of vehicle
CN103185600A (en) * 2011-12-30 2013-07-03 上海博泰悦臻电子设备制造有限公司 Navigation system, and navigation method and device
CN202987135U (en) * 2012-11-08 2013-06-12 长安大学 Device for identifying speed reducing prediction behavior before corner
CN103171555A (en) * 2013-03-13 2013-06-26 浙江工业大学 System for active collision avoidance at crossroad
CN103381806A (en) * 2013-08-13 2013-11-06 北京汽车股份有限公司 Method and device for warning of braking of vehicle and vehicle
CN107531239A (en) * 2015-04-29 2018-01-02 克诺尔商用车制动系统有限公司 The method and apparatus that speed for vehicle is adjusted
CN104960518A (en) * 2015-06-17 2015-10-07 奇瑞汽车股份有限公司 Method and device of reminding driver
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113715818A (en) * 2021-08-30 2021-11-30 岚图汽车科技有限公司 Navigation-based adaptive cruise method and system
CN113715818B (en) * 2021-08-30 2024-04-16 岚图汽车科技有限公司 Navigation-based self-adaptive cruising method and system

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