CN112896162B - Method and device for optimally controlling longitudinal running of automobile under ramp working condition - Google Patents

Method and device for optimally controlling longitudinal running of automobile under ramp working condition Download PDF

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Publication number
CN112896162B
CN112896162B CN202110334086.1A CN202110334086A CN112896162B CN 112896162 B CN112896162 B CN 112896162B CN 202110334086 A CN202110334086 A CN 202110334086A CN 112896162 B CN112896162 B CN 112896162B
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vehicle
speed
working condition
less
longitudinal acceleration
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CN112896162A (en
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李祥一
边宁
裴双红
周仲伟
周新峰
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • 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
    • 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
    • B60W2520/14—Yaw
    • 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
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of automobile control, in particular to an automobile longitudinal running optimization control method and device under a ramp working condition. When a vehicle enters a ramp under the condition of self-adaptive cruise, acquiring ramp curve information to judge whether the current working condition is in a preset working condition, further judging the type of the working condition if the working condition is the preset working condition, then acquiring the set speed of the self-adaptive cruise and the current speed of the vehicle, acquiring the yaw angle and the steering wheel angle of the vehicle if the set speed of the self-adaptive cruise is greater than the current speed of the vehicle, comparing the acquired yaw angle and the steering wheel angle with the set yaw angle and the set angle respectively, and reducing the wheel side torque of the vehicle according to the comparison result by combining the type of the current working condition to control the vehicle to run according to the set longitudinal acceleration. The invention controls the adaptive cruise driving condition of the curve working condition, improves the driving safety of the vehicle on the ramp and ensures the safety of the driver on the ramp working condition.

Description

Method and device for optimally controlling longitudinal running of automobile under ramp working condition
Technical Field
The invention relates to the technical field of automobile control, in particular to an automobile longitudinal running optimization control method and device under a ramp working condition.
Background
An adaptive cruise system (ACC) can also be called as active cruise and is an intelligent automatic control system, the adaptive cruise system replaces a driver to control the speed of a vehicle, frequent cancellation and setting of cruise control are avoided, the cruise system is suitable for more road conditions, and the driver can completely remove feet from pedals as long as paying attention to a steering wheel.
The current ADAS systems are controlled longitudinally by the following two control strategies:
1. when a front vehicle is available:
a. if the speed of the front vehicle is less than the speed set by the ACC of the self vehicle, the self vehicle and the front vehicle keep the same speed and run with the front vehicle;
b. if the speed of the front vehicle is greater than the set speed of the self vehicle ACC, the self vehicle runs according to the set speed of the ACC;
2. when no front vehicle is available:
the vehicle runs at the ACC set vehicle speed.
The two current control strategies need to set the speed of the vehicle or the speed of the vehicle ahead by referring to the ACC of the vehicle for controlling the vehicle speed, have no good automatic identification capability for the road section with suddenly changed highest speed limit, and need to control the vehicle by means of braking or taking over the vehicle immediately by a driver. Especially for the working condition of the ramp, the general ramp can have the road condition of sharp turning, when the road runs from the main road to the ramp, the highest speed limit is greatly reduced because the road is suddenly changed from the straight road to the curve with smaller curvature radius. If the vehicle enters the ramp along with the front vehicle on the overhead, the target of the front vehicle is lost due to the fact that the curvature radius of the ramp is small, the ADAS system can immediately request the vehicle to accelerate to the ACC cruise set speed after the vehicle loses the front vehicle, and the condition is very dangerous on the ramp with the small curvature radius and a narrow road and can cause accidents. Especially for a novice driver, the sudden action of the vehicle can cause the tension of the driver, thereby increasing the probability of misoperation and causing accidents.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide a method and a device for optimally controlling the longitudinal running of an automobile under the working condition of a ramp.
The technical scheme of the invention is as follows: when a vehicle enters a ramp under the condition of self-adaptive cruise, obtaining ramp curve information to judge whether the current working condition is in a preset working condition, further judging the type of the working condition if the working condition is the preset working condition, then collecting the set speed of the self-adaptive cruise and the current speed of the vehicle, if the set speed of the self-adaptive cruise is greater than the current speed of the vehicle, collecting a yaw angle and a steering wheel corner of the vehicle, respectively comparing the obtained yaw angle and the steering wheel corner with the set yaw angle and the set steering wheel corner, and reducing the wheel side torque of the vehicle according to the comparison result by combining the type of the current working condition to control the vehicle to run according to the set longitudinal acceleration.
Further, the method for acquiring the information of the turn road and judging whether the current working condition is in the preset working condition comprises the following steps: identifying the curvature of a lane line of a ramp through a camera, and if the curvature of the lane line is smaller than a first set curvature, determining that the current working condition is a non-preset working condition;
if the curvature of the lane line is larger than or equal to a second set curvature, the current working condition is a first preset working condition;
if the first set curvature is smaller than or equal to the curvature of the lane line and smaller than the second set curvature, the current working condition is a second preset working condition;
the first set curvature is less than the second set curvature.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than the second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is less than the set steering angle, judging that the vehicle deviates from the current lane, and reducing the wheel torque of the vehicle to control the vehicle to run according to the first longitudinal acceleration less than the set longitudinal acceleration; the first set vehicle speed is less than the second set vehicle speed.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than a second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is less than the set yaw angle, judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to the second longitudinal acceleration less than the set speed; the first longitudinal acceleration is less than the second longitudinal acceleration.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than the second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is greater than or equal to the set steering angle, the vehicle is judged to turn, and the wheel torque of the vehicle is reduced to control the vehicle to run at a second longitudinal acceleration which is less than the set longitudinal acceleration.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the self-adaptive cruise set speed is greater than or equal to a second set speed and the current speed of the vehicle is less than the second set speed, if the yaw angle is greater than or equal to a set yaw angle and the steering wheel rotation angle is less than a set rotation angle, judging that the vehicle deviates from the current lane, and reducing the wheel torque of the vehicle to control the vehicle to run according to a first longitudinal acceleration less than the set longitudinal acceleration; the first set vehicle speed is less than the second set vehicle speed.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the second set speed is less than or equal to the self-adaptive cruise set speed and the current speed of the vehicle is less than the second set speed, if the yaw angle is less than the set yaw angle, judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to a third longitudinal acceleration less than the set longitudinal acceleration; the first longitudinal acceleration is less than the third longitudinal acceleration.
The method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the second set speed is less than or equal to the self-adaptive cruise set speed and the current speed of the vehicle is less than the second set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is greater than or equal to the set steering angle, the vehicle is judged to turn, and the wheel torque of the vehicle is reduced to control the vehicle to run at a third longitudinal acceleration which is less than the set longitudinal acceleration.
When the current working condition is a first preset working condition, if the self-adaptive cruise speed is less than a first set speed, or the first set speed is less than or equal to the self-adaptive cruise speed and less than a second set speed, and the current speed of the vehicle is greater than or equal to the first set speed, the longitudinal acceleration of the vehicle is not controlled and adjusted, and the vehicle runs normally;
when the current working condition is a second preset working condition, if the self-adaptive cruise speed is less than a second set speed, or the self-adaptive cruise speed is greater than or equal to the second set speed and the current speed of the vehicle is greater than or equal to the second set speed, the longitudinal acceleration of the vehicle is not controlled and adjusted, and the vehicle runs normally;
the first set vehicle speed is less than the second set vehicle speed.
A device comprising an automobile longitudinal running optimization control method under a ramp working condition is characterized in that: the system comprises a data acquisition system, a data processing system and a data processing system, wherein the data acquisition system is used for acquiring lane line curvature, a self-adaptive cruise state, the current speed of a vehicle, a yaw angle and a steering wheel corner signal;
the data processing system processes the acquired signals, compares the acquired data with a stored set value and acquires a judgment result;
the control system sends a corresponding command to the vehicle power system according to the judgment result to control the power system to correspondingly adjust the longitudinal acceleration of the vehicle;
the data acquisition system, the data processing system and the control system are in data communication with each other.
The invention avoids the problem that the vehicle is accelerated suddenly after the front vehicle target is lost due to the fact that the set cruising speed is higher when the vehicle is in the working condition of the ramp, and can ensure the safety of the vehicle carrying the ADAS on the working condition of the ramp to a great extent;
according to the invention, different acceleration limits are carried out by distinguishing different types of ramps, so that the safety of a driver is ensured, and the occurrence of accidents can be effectively reduced;
the invention only controls the ADAS system, does not interfere the operation of the driver on the accelerator/brake and the like, and ensures the safety and experience feeling of the driver after taking over;
the invention controls the adaptive cruise driving condition of the curve working condition, avoids the safety problem caused by the situation that the vehicle rapidly accelerates to reach the adaptive cruise set speed and does not consider the curve condition of the curve because the vehicle speed is less than the adaptive cruise speed after the vehicle enters the ramp, improves the driving safety of the vehicle on the ramp and ensures the safety sense of a driver on the curve working condition.
Drawings
FIG. 1: the control flow of the invention is shown schematically.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
Referring to fig. 1, the present embodiment performs optimization control for the condition that the vehicle enters the ramp under the adaptive cruise condition, the ADAS camera mounted on the vehicle identifies the lane line curvature of the ramp (e.g. C2 in fig. 1), and if the identified lane line curvature of the ramp is smaller than the set first set curvature, the first set curvature of the present embodiment is 0.002m -1 In the practical application process, the curvature of the current lane line is smaller than the first set curvature, which proves that the curvature of the current lane line is smaller than the first set curvatureThe rate is very low, which is basically equivalent to straight line driving, so the control on the longitudinal acceleration of the vehicle is not needed, the vehicle normally runs, and the control and regulation on the ADAS system are not needed.
The longitudinal acceleration control adjustment is carried out only under the condition that the curvature of the lane line of the ramp is larger, when the acquired curvature of the lane line of the ramp is larger than or equal to the second set curvature, the vehicle is judged to enter the first preset working condition (namely, the vehicle enters the common road from a high speed or an overhead road), and the second set curvature of the embodiment is 0.01m -1 In practical application, the curvature is not limited to the set curvature, and can be obtained by calibration according to habits of automobiles and drivers and road conditions.
Namely when the vehicle is in a first preset working condition: then judging whether the adaptive cruise ACC or ICA is started or not, if the adaptive cruise ACC or ICA is not in the starting state, namely in the take-over state of the driver, driving normally without controlling the longitudinal acceleration of the vehicle;
if the vehicle is in a first preset working condition and the vehicle is in the self-adaptive cruise state, then collecting the self-adaptive cruise set vehicle speed, and if the self-adaptive cruise set vehicle speed is smaller than the first set vehicle speed, the first set vehicle speed of the embodiment is 40km/h (obtained by calibration and not limited to the limit value), which proves that the self-adaptive cruise set vehicle speed at the moment is smaller, the probability of safety accidents is very small, and therefore the longitudinal acceleration of the vehicle does not need to be controlled, and the vehicle runs according to the normal condition;
if the vehicle is in a first preset working condition, the vehicle is in an adaptive cruise state, and when the first set vehicle speed is less than or equal to the adaptive cruise set vehicle speed and less than a second set vehicle speed, the second set vehicle speed is 60km/h (obtained by calibration and is not limited to the limit value), the current vehicle speed of the vehicle is collected, and if the current vehicle speed of the vehicle is greater than or equal to the first set vehicle speed, the current vehicle speed is very close to the adaptive cruise set vehicle speed, and the vehicle does not have the requirement of rapid acceleration, so the longitudinal acceleration of the vehicle does not need to be controlled and adjusted, and the vehicle runs according to a normal condition;
if the vehicle is in the first preset working condition, the vehicle is in the self-adaptive cruise state, and when the first set vehicle speed is less than or equal to the self-adaptive cruise set vehicle speedIf the current vehicle speed is less than the first set vehicle speed, the vehicle needs to be accelerated quickly in order to reach the set vehicle speed of the adaptive cruise, and the longitudinal acceleration of the vehicle needs to be controlled and adjusted in order to avoid the safety problem caused by the quick acceleration. When the state is entered, the instrument in the cockpit can send out a prompt: when the vehicle enters the ramp, the vehicle is requested to control the speed and drive carefully. And then acquiring a yaw angle and a steering wheel corner, wherein the yaw angle can be acquired through a camera of an ADAS system, the steering wheel corner can be acquired through a sensor, and then the yaw angle and the steering wheel corner are analyzed. If the yaw angle is smaller than the set yaw angle (the set yaw angle is 5 degrees in the embodiment, the yaw angle can be adjusted according to requirements in practical application, and is not limited to the limit value), the vehicle is judged to turn, the wheel torque of the vehicle is reduced, and the vehicle is controlled to run according to a second longitudinal acceleration smaller than the set longitudinal acceleration, wherein the second longitudinal acceleration is 2m/s 2 By limiting the longitudinal acceleration to be less than the second longitudinal acceleration, the occurrence of rapid acceleration is avoided.
If the vehicle is in a first preset working condition, the vehicle is in a self-adaptive cruise state, when the first set vehicle speed is not more than the self-adaptive cruise set vehicle speed and is less than a second set vehicle speed, and the current vehicle speed is less than the first set vehicle speed, an instrument in the cockpit can send out a prompt: when the vehicle enters the ramp, the vehicle is requested to control the speed and drive carefully. And acquiring a yaw angle and a steering wheel angle, if the yaw angle is larger than or equal to a set yaw angle and the steering wheel angle is larger than or equal to a set steering angle (the set steering angle in the embodiment is 10 degrees, and the steering wheel angle can be adjusted according to requirements in practical application and is not limited to the limit), judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to a second longitudinal acceleration smaller than the set value.
If the vehicle is in a first preset working condition, the vehicle is in a self-adaptive cruise state, when the first set vehicle speed is not more than the self-adaptive cruise set vehicle speed and is less than a second set vehicle speed, and the current vehicle speed is less than the first set vehicle speed, an instrument in the cockpit can send out a prompt: when the vehicle enters the ramp, the vehicle is required to control the speed and be driven carefully. Collecting a yaw angle and a steering wheel corner, and if the yaw angle is not less than a set yaw angleIf the steering wheel angle is less than the set steering angle (the set steering angle in the embodiment is 10 degrees, and the steering wheel angle can be adjusted according to requirements in practical application, but not limited to the limit), the vehicle is judged to be turning, the wheel torque of the vehicle is reduced, and the vehicle is controlled to run according to a first longitudinal acceleration which is less than the set longitudinal acceleration, wherein the first longitudinal acceleration in the embodiment is 0.5m/s 2 By limiting the longitudinal acceleration to be less than the first longitudinal acceleration, the occurrence of rapid acceleration can be avoided.
When the first set curvature is less than or equal to the curvature of the lane line of the ramp and less than the second set curvature, it is determined that the vehicle enters the second preset condition (i.e. similar to entering the high speed or the overhead in the other direction from the high speed or the overhead), and the first set curvature of the embodiment is 0.002m -1 In practical application, the curvature is not limited to the set curvature, and can be obtained by calibration according to habits of automobiles and drivers and road conditions.
Namely when the vehicle is in the second preset working condition: then judging whether the adaptive cruise ACC or ICA is started or not, if the adaptive cruise ACC or ICA is not in the starting state, namely in the take-over state of the driver, driving normally without controlling the longitudinal acceleration of the vehicle;
if the vehicle is in a second preset working condition and the vehicle is in a self-adaptive cruise state, then collecting the self-adaptive cruise set speed, if the self-adaptive cruise set speed is less than the second set speed, the second set speed of the embodiment is 60km/h (obtained by calibration and not limited to the limit value), and the self-adaptive cruise set speed is lower, the curvature of a ramp lane is smaller, the probability of safety accidents is very low, therefore, the longitudinal acceleration of the vehicle does not need to be controlled, and the vehicle runs according to the normal condition;
if the vehicle is in a second preset working condition, the vehicle is in an adaptive cruise state, and the adaptive cruise set speed is greater than or equal to a second set speed, acquiring the current speed of the vehicle, and if the current speed of the vehicle is greater than or equal to the second set speed, indicating that the current speed is very close to the adaptive cruise set speed, and the vehicle does not have the requirement of rapid acceleration, so that the longitudinal acceleration of the vehicle does not need to be controlled and adjusted, and the vehicle runs according to the normal condition;
if the vehicle is in a second preset working condition, the vehicle is in the adaptive cruise state, and when the adaptive cruise set vehicle speed is greater than or equal to a second set vehicle speed and the current vehicle speed is less than the second set vehicle speed, the vehicle needs to be accelerated rapidly in order to reach the adaptive cruise set vehicle speed at this time, and in order to avoid the safety problem caused by the rapid acceleration, the longitudinal acceleration of the vehicle needs to be controlled and adjusted. When the state is entered, the instrument in the cockpit can send out a reminder: when the vehicle enters the ramp, the vehicle is requested to control the speed and drive carefully. And then acquiring a yaw angle and a steering wheel corner, wherein the yaw angle can be acquired through a camera of an ADAS system, the steering wheel corner can be acquired through a sensor, and then the yaw angle and the steering wheel corner are analyzed. If the yaw angle is smaller than the set yaw angle (the set yaw angle is 5 degrees in the embodiment, the yaw angle can be adjusted according to requirements in practical application, and the device is not limited to the limit), the vehicle is judged to be turning, the wheel torque of the vehicle is reduced, the vehicle is controlled to run according to a second longitudinal acceleration smaller than the set value, and the second longitudinal acceleration is 2m/s 2 By limiting the longitudinal acceleration to be less than the third longitudinal acceleration, the sudden acceleration can be avoided, and the third longitudinal acceleration is 1.5m/s in the embodiment 2 By limiting the longitudinal acceleration to be less than the third longitudinal acceleration, the occurrence of rapid acceleration can be avoided.
If the vehicle is in a second preset working condition, the vehicle is in a self-adaptive cruise state, and when the self-adaptive cruise set vehicle speed is larger than or equal to a second set vehicle speed and the current vehicle speed is smaller than the second set vehicle speed, the instrument in the cockpit can send out a prompt: when the vehicle enters the ramp, the vehicle is requested to control the speed and drive carefully. And acquiring a yaw angle and a steering wheel angle, if the yaw angle is larger than or equal to a set yaw angle and the steering wheel angle is larger than or equal to a set steering angle (the set steering angle in the embodiment is 10 degrees, and the steering wheel angle can be adjusted according to requirements in practical application and is not limited to the limit), judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to a third longitudinal acceleration smaller than the set longitudinal acceleration.
If the vehicle is in the second preset working condition, the vehicle is in the self-adaptive cruise stateWhen the self-adaptive cruise set speed is larger than or equal to the second set speed and the current speed is smaller than the second set speed, the instrument in the cockpit can send out a prompt: when the vehicle enters the ramp, the vehicle is requested to control the speed and drive carefully. Collecting a yaw angle and a steering wheel angle, if the yaw angle is larger than or equal to a set yaw angle and the steering wheel angle is smaller than the set steering angle (the set steering angle is 10 degrees in the embodiment, the steering wheel angle can be adjusted according to requirements in practical application, and is not limited to the limit value), judging that the vehicle is about to deviate from a lane, reducing the wheel torque of the vehicle, controlling the vehicle to run according to a first longitudinal acceleration smaller than the set longitudinal acceleration, wherein the first longitudinal acceleration is 0.5m/s in the embodiment 2 By limiting the longitudinal acceleration to be less than the first longitudinal acceleration, the occurrence of rapid acceleration can be avoided.
The longitudinal acceleration described in this embodiment refers to the acceleration of the vehicle in the direction of travel.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. A longitudinal running optimization control method of an automobile under a ramp working condition is characterized by comprising the following steps: when a vehicle enters a ramp under the condition of self-adaptive cruise, acquiring ramp curve information to judge whether the current working condition is in a preset working condition, further judging the type of the working condition if the current working condition is in the preset working condition, then acquiring a set self-adaptive cruise speed and the current vehicle speed of the vehicle, acquiring a yaw angle and a steering wheel corner of the vehicle if the set self-adaptive cruise speed is greater than the current vehicle speed of the vehicle, comparing the acquired yaw angle and the steering wheel corner with a set yaw angle and a set steering angle respectively, and reducing the wheel side torque of the vehicle according to the comparison result by combining the type of the current working condition to control the vehicle to run according to the set longitudinal acceleration;
the method for acquiring the ramp curve information and judging whether the current working condition is in the preset working condition comprises the following steps: recognizing the curvature of a lane line of a ramp through a camera, and if the curvature of the lane line is smaller than a first set curvature, determining that the current working condition is a non-preset working condition;
if the curvature of the lane line is larger than or equal to the second set curvature, the current working condition is a first preset working condition;
if the first set curvature is smaller than or equal to the curvature of the lane line and smaller than the second set curvature, the current working condition is a second preset working condition;
the first set curvature is less than the second set curvature.
2. The method for optimally controlling the longitudinal running of the automobile under the working condition of the ramp according to claim 1, wherein the method comprises the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than the second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is less than the set steering angle, judging that the vehicle deviates from the current lane, and reducing the wheel torque of the vehicle to control the vehicle to run according to the first longitudinal acceleration less than the set longitudinal acceleration; the first set vehicle speed is less than the second set vehicle speed.
3. The method for optimally controlling the longitudinal running of the automobile under the ramp working condition according to claim 2, characterized by comprising the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than a second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is less than the set yaw angle, judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to the second longitudinal acceleration less than the set speed; the first longitudinal acceleration is less than the second longitudinal acceleration.
4. The method for optimally controlling the longitudinal running of the automobile under the ramp working condition according to claim 3, wherein the method comprises the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a first preset working condition, when the first set speed is less than or equal to the self-adaptive cruise set speed and less than the second set speed and the current speed of the vehicle is less than the first set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is greater than or equal to the set steering angle, the vehicle is judged to turn, and the wheel torque of the vehicle is reduced to control the vehicle to run at a second longitudinal acceleration which is less than the set longitudinal acceleration.
5. The method for optimally controlling the longitudinal running of the automobile under the working condition of the ramp according to claim 1, wherein the method comprises the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the self-adaptive cruise set speed is larger than or equal to a second set speed and the current speed of the vehicle is smaller than the second set speed, if the yaw angle is larger than or equal to a set yaw angle and the steering wheel rotating angle is smaller than a set rotating angle, the fact that the vehicle deviates from the current lane is judged, and wheel torque of the vehicle is reduced to control the vehicle to run according to the first longitudinal acceleration smaller than the set longitudinal acceleration.
6. The method for optimally controlling the longitudinal running of the automobile under the ramp working condition according to claim 5, wherein the method comprises the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the second set speed is less than or equal to the self-adaptive cruise set speed and the current speed of the vehicle is less than the second set speed, if the yaw angle is less than the set yaw angle, judging that the vehicle is turning, and reducing the wheel torque of the vehicle to control the vehicle to run according to a third longitudinal acceleration less than the set longitudinal acceleration; the first longitudinal acceleration is less than the third longitudinal acceleration.
7. The method for optimally controlling the longitudinal running of the automobile under the ramp working condition according to claim 6, wherein the method comprises the following steps of: the method for controlling the vehicle to run according to the set longitudinal acceleration according to the comparison result comprises the following steps: when the current working condition is a second preset working condition, when the second set speed is less than or equal to the self-adaptive cruise set speed and the current speed of the vehicle is less than the second set speed, if the yaw angle is greater than or equal to the set yaw angle and the steering wheel angle is greater than or equal to the set steering angle, the vehicle is judged to turn, and the wheel torque of the vehicle is reduced to control the vehicle to run at a third longitudinal acceleration which is less than the set longitudinal acceleration.
8. The method for optimally controlling the longitudinal running of the automobile under the working condition of the ramp according to claim 1, wherein the method comprises the following steps of: when the current working condition is a first preset working condition, if the self-adaptive cruise speed is less than a first set speed, or the first set speed is less than or equal to the self-adaptive cruise speed and less than a second set speed, and the current speed of the vehicle is greater than or equal to the first set speed, the longitudinal acceleration of the vehicle is not controlled and adjusted, and the vehicle runs normally;
when the current working condition is a second preset working condition, if the self-adaptive cruise speed is less than a second set speed, or the self-adaptive cruise speed is greater than or equal to the second set speed and the current speed of the vehicle is greater than or equal to the second set speed, the longitudinal acceleration of the vehicle is not controlled and adjusted, and the vehicle runs normally;
the first set vehicle speed is less than the second set vehicle speed.
9. An apparatus comprising the method for controlling longitudinal driving optimization of an automobile under the ramp condition according to any one of claims 1 to 8, wherein: the system comprises a data acquisition system, a data processing system and a data processing system, wherein the data acquisition system is used for acquiring lane line curvature, a self-adaptive cruise state, the current speed of a vehicle, a yaw angle and a steering wheel corner signal;
the data processing system processes the acquired signals, compares the acquired data with a stored set value and acquires a judgment result;
the control system sends a corresponding instruction to the vehicle power system according to the judgment result to control the power system to correspondingly adjust the longitudinal acceleration of the vehicle;
the data acquisition system, the data processing system and the control system are in data communication with each other.
CN202110334086.1A 2021-03-29 2021-03-29 Method and device for optimally controlling longitudinal running of automobile under ramp working condition Active CN112896162B (en)

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