CN112519775A - New energy automobile cruise mode control method and system - Google Patents
New energy automobile cruise mode control method and system Download PDFInfo
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- CN112519775A CN112519775A CN202011595500.6A CN202011595500A CN112519775A CN 112519775 A CN112519775 A CN 112519775A CN 202011595500 A CN202011595500 A CN 202011595500A CN 112519775 A CN112519775 A CN 112519775A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
Abstract
The invention discloses a new energy automobile cruise mode control method and system, wherein the control method comprises the following steps: judging whether a cruise mode is entered, if so, entering constant-speed cruise and starting a vehicle-mounted radar; judging whether a followed vehicle is detected by the vehicle-mounted radar, and if so, entering a following mode; selecting a following mode, acquiring the speed of the vehicle and the relative speed and the relative distance between the vehicle and a followed vehicle, calculating the following time distance, and controlling the following time distance according to the following mode; the method can solve the problems that the following distance calculation method in the prior art is poor in adaptability and the following mode cannot be selected.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a cruise mode control method and system for a new energy automobile.
Background
The intelligent auxiliary driving system of the current new energy automobile is gradually mature and comprises constant-speed cruising, non-full-speed section self-adaptive cruising, novel integrated cruising and the like. These techniques make the vehicle safer to drive.
When the vehicle enters the cruising mode, how to scientifically and effectively follow the vehicle is concerned by various automobile manufacturers. The effect of following the car can directly influence driving safety and driving feeling. The traditional technology adopts a calculation method of fixing the following time interval, and cannot adapt to the complex working condition of the state change of the followed vehicle. In the car following mode, a user cannot select the driving habit to select the car following time interval.
The invention adopts a calculation method of variable following time distance and sets three following modes for a driver to select, so that the driving efficiency is higher and the safety is higher.
Disclosure of Invention
The invention aims to provide a new energy automobile cruise mode control method and system, which adopt a comprehensive method of selecting a following mode, calculating a following time distance and controlling the following time distance to solve the problems that the following time distance calculation method in the prior art is poor in adaptability and the following mode cannot be selected.
The invention provides a new energy automobile cruise mode control method, which comprises the following steps:
step 1: judging whether a cruising mode is entered, if so, entering constant-speed cruising and starting a vehicle-mounted radar, and executing the step 2; if not, keeping the operation mode of the driver;
step 2: judging whether a followed vehicle is detected by the vehicle-mounted radar, if so, entering a following mode, and executing the step 3; if not, keeping constant-speed cruising;
and step 3: and selecting a car following mode, acquiring the speed of the car and the relative speed and the relative distance between the car and a followed vehicle, calculating the car following time distance, and controlling the car following time distance according to the car following mode.
Optionally, the specific method for determining whether the followed vehicle is detected by the vehicle-mounted radar in step 2 is as follows:
and when the vehicle-mounted radar detects that the followed vehicle is a valid target, entering a following mode.
Optionally, the method for determining that the followed vehicle is a valid target includes:
and when the relative speed and the relative distance of the followed vehicle detected by the vehicle-mounted radar are not 0, judging that the followed vehicle is an effective target.
Optionally, in the step 3, the vehicle speed of the vehicle, the relative speed and the relative distance between the vehicle and the followed vehicle are obtained, and a specific calculation method for calculating the following time distance is as follows:
τ1＝τ0-k1Δv-k2ap
wherein: tau is1For following a vehicle, τ0Based on the time interval, Δ v is the relative speed of the vehicle and the followed vehicle, k1Is the weight, k, occupied by the relative speed in following the vehicle2Is the weight of the acceleration of the followed vehicle in the time distance, apIs the followed vehicle acceleration.
Optionally, the base time interval τ0The calculation method comprises the following steps:
wherein: l is the relative distance between the vehicle and the followed vehicle, and v is the vehicle speed of the vehicle.
Optionally, the acceleration a of the followed vehiclepThe calculation method comprises the following steps:
wherein: v + Δ v is the followed vehicle speed.
Optionally, in step 3, the following modes include a first following mode, a second following mode and a third following mode, which are specifically:
if the first car following mode is selected, correspondingly controlling the car following distance tau1Not more than 1.5;
if the second car following mode is selected, the car following distance tau is correspondingly controlled1Greater than 1.5 and not greater than 2.3;
if the third car following mode is selected, correspondingly controlling the car following distance tau1Greater than 2.3 and not greater than 3.0.
Optionally, the relative speed occupies a weight k in a following distance1The weight k of the acceleration of the followed vehicle in the time interval2The setting method comprises the following steps:
if the first car following mode is selected, k is set to be more than 0.71≤1.0、k2＝0.3；
If the second car following mode is selected, k is set to be more than 0.41≤0.7、k2＝0.2；
If the third car following mode is selected, k is set to be more than 0.11≤0.4、k2＝0.1。
Optionally, the method for controlling the following vehicle distance in step 3 is to control the acceleration of the vehicle, and specifically includes:
if the first car following mode is selected, controlling the acceleration of the car to be-2 < a < 0;
if the second car following mode is selected, controlling the acceleration of the car to be-4 < a < 2;
if the third car following mode is selected, the acceleration a of the car is controlled to be less than-4.
The invention provides a new energy automobile cruise mode control system, which comprises: the vehicle-mounted radar is used for tracking a vehicle distance calculation module, selecting a vehicle tracking mode module and controlling the acceleration of the vehicle;
the vehicle-mounted radar is connected with the vehicle following distance calculation module and used for obtaining the relative speed and the relative distance between the vehicle and the followed vehicle according to the vehicle-mounted radar and calculating the vehicle following time distance;
the following vehicle distance calculation module is connected with the selected following vehicle mode module and used for determining the weight of the relative speed in the following vehicle distance calculation module in the following vehicle distance, the weight of the acceleration of the followed vehicle in the time distance and the required following vehicle distance according to the selected following vehicle mode module;
the vehicle following selection mode module is connected with the vehicle acceleration control module and used for determining the acceleration range of the vehicle needing to be controlled according to the vehicle following selection mode.
Optionally, the vehicle-mounted radar is specifically a millimeter wave radar.
The invention has the beneficial effects that:
1. the invention adopts the relative speed and the relative distance between the following vehicle and the followed vehicle, and the vehicle speed calculation is the method according to the following vehicle distance, which is different from the conventional method of fixing the following time distance and can adapt to the complex working condition of the state change of the followed vehicle.
2. The invention defines three car following modes, and selects the car following modes according to the habits of the driver, so that the car following modes are not the traditional single mode any more, and the user friendliness is good.
3. According to the invention, different acceleration control strategies of the vehicle are adopted according to three following modes to control the braking acceleration output when the followed vehicle changes, so that the whole system is safer.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 shows a general flowchart of a cruise mode control method of a new energy vehicle according to the present invention.
Fig. 2 shows a cruise mode control system diagram of the new energy automobile.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments 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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.
The invention provides a new energy automobile cruise mode control method, which comprises the following steps as shown in figure 1:
step S1: judging whether the vehicle enters a cruise mode, if so, entering constant-speed cruise and starting a vehicle-mounted radar, and executing step S2; if not, keeping the operation mode of the driver;
step S2: judging whether a followed vehicle is detected by the vehicle-mounted radar, if so, entering a following mode, and executing step S3; if not, keeping constant-speed cruising;
step S3: selecting a car following mode;
step S4: acquiring the speed of the vehicle and the relative speed and the relative distance between the vehicle and a followed vehicle, and calculating the following time distance;
step S5: controlling the following distance according to the following mode;
step S6: judging whether the car following mode exits or not, if so, keeping constant-speed cruising, and executing step S2; if not, step S4 is executed.
Optionally, the specific method for determining whether the followed vehicle is detected by the vehicle-mounted radar in step S2 is as follows:
and when the vehicle-mounted radar detects that the followed vehicle is a valid target, entering a following mode.
Optionally, the method for determining that the followed vehicle is a valid target comprises:
and when the relative speed and the relative distance of the followed vehicle detected by the vehicle-mounted radar are not 0, judging that the followed vehicle is an effective target.
Optionally, in step S4, the vehicle speed of the vehicle, the relative speed and the relative distance between the vehicle and the followed vehicle are obtained, and the specific calculation method for calculating the following time distance is as follows:
τ1＝τ0-k1Δv-k2ap
wherein: tau is1For following a vehicle, τ0Based on the time interval, Δ v is the relative speed of the vehicle and the followed vehicle, k1Is the weight, k, occupied by the relative speed in following the vehicle2Is the weight of the acceleration of the followed vehicle in the time distance, apIs the followed vehicle acceleration.
Optionally, the base time interval τ0The calculation method comprises the following steps:
wherein: l is the relative distance between the vehicle and the followed vehicle, and v is the vehicle speed of the vehicle.
Optionally, the acceleration a of the followed vehiclepThe calculation method comprises the following steps:
wherein: v + Δ v is the followed vehicle speed.
Optionally, the following modes in step S3 include a first following mode, a second following mode and a third following mode of 3 types, specifically:
if the first car following mode is selected, correspondingly controlling the car following distance tau1Not more than 1.5;
if the second car following mode is selected, the car following distance tau is correspondingly controlled1Greater than 1.5 and not greater than 2.3;
if the third car following mode is selected, correspondingly controlling the car following distance tau1Greater than 2.3 and not greater than 3.0.
Optionally, the relative speed occupies the weight k in the following distance1The weight k of the acceleration of the followed vehicle in the time interval2The setting method comprises the following steps:
if the first car following mode is selected, k is set to be more than 0.71≤1.0、k2＝0.3；
If the second car following mode is selected, k is set to be more than 0.41≤0.7、k2＝0.2；
If the third car following mode is selected, k is set to be more than 0.11≤0.4、k2＝0.1。
Optionally, the method for controlling the following vehicle distance in step S5 is to control the acceleration of the vehicle, specifically:
if the first car following mode is selected, controlling the acceleration of the car to be-2 < a < 0;
if the second car following mode is selected, controlling the acceleration of the car to be-4 < a < 2;
if the third car following mode is selected, the acceleration a of the car is controlled to be less than-4.
Optionally, the specific method for determining whether to exit the car following mode in step S6 is as follows:
if the current followed vehicle can still be detected by the vehicle-mounted radar, judging that the following mode is not exited, otherwise, judging that the following mode is exited.
The invention provides a new energy automobile cruise mode control system, which comprises: a vehicle-mounted radar 51, a following vehicle distance calculation module 52, a vehicle following mode selection module 53 and a vehicle acceleration control module 54;
the vehicle-mounted radar 51 is connected with the vehicle following distance calculation module 52 and is used for calculating the vehicle following time distance according to the relative speed and the relative distance of the vehicle and the followed vehicle obtained by the vehicle-mounted radar 51;
the following vehicle distance calculation module 52 is connected with the selected following vehicle mode module 53 and is used for determining the weight of the relative speed in the following vehicle distance calculation module 52 in the following vehicle distance, the weight of the acceleration of the followed vehicle in the time distance and the required following vehicle distance according to the selected following vehicle mode module 53;
the vehicle following mode selection module 53 is connected to the vehicle acceleration control module 54, and is configured to determine a vehicle acceleration range that needs to be controlled according to the selected vehicle following mode.
Optionally, the vehicle-mounted radar is specifically a millimeter wave radar.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (10)
1. The new energy automobile cruise mode control method is characterized by comprising the following steps:
step 1: judging whether a cruising mode is entered, if so, entering constant-speed cruising and starting a vehicle-mounted radar, and executing the step 2; if not, keeping the operation mode of the driver;
step 2: judging whether a followed vehicle is detected by the vehicle-mounted radar, if so, entering a following mode, and executing the step 3; if not, keeping constant-speed cruising;
and step 3: and selecting a car following mode, acquiring the speed of the car and the relative speed and the relative distance between the car and a followed vehicle, calculating the car following time distance, and controlling the car following time distance according to the car following mode.
2. The new energy automobile cruise mode control method according to claim 1, wherein the method for judging whether the followed vehicle is detected by the vehicle-mounted radar in the step 2 is as follows:
and when the vehicle-mounted radar detects that the followed vehicle is a valid target, entering a following mode.
3. The new energy vehicle cruise mode control method according to claim 2, wherein the method of determining that the followed vehicle is a valid target is:
and when the relative speed and the relative distance of the followed vehicle detected by the vehicle-mounted radar are not 0, judging that the followed vehicle is an effective target.
4. The new energy automobile cruise mode control method according to claim 1, wherein in the step 3, the vehicle speed of the vehicle and the relative speed and the relative distance between the vehicle and the followed vehicle are obtained, and a specific calculation method for calculating the following time distance is as follows:
τ1＝τ0-k1Δv-k2ap
wherein: tau is1For following a vehicle, τ0Based on the time interval, Δ v is the relative speed of the vehicle and the followed vehicle, k1Is the weight, k, occupied by the relative speed in following the vehicle2Is the weight of the acceleration of the followed vehicle in the time distance, apIs the followed vehicle acceleration.
5. The new energy vehicle cruise mode control method according to claim 4, characterized in that said base time interval τ0The calculation method comprises the following steps:
wherein: l is the relative distance between the vehicle and the followed vehicle, and v is the vehicle speed of the vehicle.
6. The new energy vehicle cruise mode control method according to claim 4, characterized in that said followed vehicle acceleration apThe calculation method comprises the following steps:
wherein: v + Δ v is the followed vehicle speed.
7. The new energy automobile cruise mode control method according to claim 1, wherein the following modes in step 3 include 3 types, specifically:
if the first car following mode is selected, correspondingly controlling the car following distance tau1Not more than 1.5;
if the second car following mode is selected, the car following distance tau is correspondingly controlled1Greater than 1.5 and not greater than 2.3;
if the third car following mode is selected, correspondingly controlling the car following distance tau1Greater than 2.3 and not greater than 3.0.
8. The cruise control method according to claim 7, wherein the relative speed is weighted by k in following distance1The weight k of the acceleration of the followed vehicle in the time interval2The setting method comprises the following steps:
if the first car following mode is selected, k is set to be more than 0.71≤1.0、k2＝0.3；
If the second car following mode is selected, k is set to be more than 0.41≤0.7、k2＝0.2；
If the third car following mode is selected, k is set to be more than 0.11≤0.4、k2＝0.1。
9. The new energy vehicle cruise mode control method according to claim 1, wherein the method for controlling the following vehicle distance in step 3 is to control the acceleration of the vehicle, specifically:
if the first car following mode is selected, controlling the acceleration of the car to be-2 < a < 0;
if the second car following mode is selected, controlling the acceleration of the car to be-4 < a < 2;
if the third car following mode is selected, the acceleration a of the car is controlled to be less than-4.
10. The new energy automobile cruise mode control system is characterized by comprising:
the vehicle-mounted radar is used for tracking a vehicle distance calculation module, selecting a vehicle tracking mode module and controlling the acceleration of the vehicle;
the vehicle-mounted radar is connected with the vehicle following distance calculation module and used for obtaining the relative speed and the relative distance between the vehicle and the followed vehicle according to the vehicle-mounted radar and calculating the vehicle following time distance;
the following vehicle distance calculation module is connected with the selected following vehicle mode module and used for determining the weight of the relative speed in the following vehicle distance calculation module in the following vehicle distance, the weight of the acceleration of the followed vehicle in the time distance and the required following vehicle distance according to the selected following vehicle mode module;
the vehicle following selection mode module is connected with the vehicle acceleration control module and used for determining the acceleration range of the vehicle needing to be controlled according to the vehicle following selection mode.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115593438A (en) * | 2022-11-25 | 2023-01-13 | 小米汽车科技有限公司（Cn） | Following method, device and storage medium |
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| US20150081189A1 (en) * | 2012-03-22 | 2015-03-19 | Jaguar Land Rover Limited | Method of Adaptive Cruise Control, Adaptive Cruise Control System and Vehicle Incorporating Such a System |
| CN109624977A (en) * | 2018-12-19 | 2019-04-16 | 吉林大学 | A kind of cruise mode control method of hybrid vehicle |
| CN109866770A (en) * | 2019-02-28 | 2019-06-11 | 重庆长安汽车股份有限公司 | A kind of adaptive cruise control method, apparatus, system and automobile |
| CN110816529A (en) * | 2019-10-28 | 2020-02-21 | 西北工业大学 | Vehicle cooperative type self-adaptive cruise control method based on variable time-distance strategy |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6081763A (en) * | 1996-03-26 | 2000-06-27 | Jaguar Cars Limited | Cruise control system for motor vehicles |
| US6116369A (en) * | 1997-08-20 | 2000-09-12 | Jaguar Cars, Limited | Adaptive cruise control system |
| US20150081189A1 (en) * | 2012-03-22 | 2015-03-19 | Jaguar Land Rover Limited | Method of Adaptive Cruise Control, Adaptive Cruise Control System and Vehicle Incorporating Such a System |
| CN109624977A (en) * | 2018-12-19 | 2019-04-16 | 吉林大学 | A kind of cruise mode control method of hybrid vehicle |
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| CN115593438A (en) * | 2022-11-25 | 2023-01-13 | 小米汽车科技有限公司（Cn） | Following method, device and storage medium |
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Application publication date: 20210319 |
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