CN113044031B - Self-adaptive cruise control system and method based on constant-speed cruise - Google Patents
Self-adaptive cruise control system and method based on constant-speed cruise Download PDFInfo
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- CN113044031B CN113044031B CN202110469458.1A CN202110469458A CN113044031B CN 113044031 B CN113044031 B CN 113044031B CN 202110469458 A CN202110469458 A CN 202110469458A CN 113044031 B CN113044031 B CN 113044031B
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- 230000003044 adaptive effect Effects 0.000 claims abstract description 64
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000002195 synergetic effect Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 2
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- 230000001276 controlling effect Effects 0.000 claims 2
- 230000000875 corresponding effect Effects 0.000 claims 2
- 230000002079 cooperative effect Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- 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
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- 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
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The invention discloses a self-adaptive cruise control system and a method based on constant-speed cruising, and relates to the field of auxiliary driving and whole vehicle electric control systems, wherein the system comprises a self-adaptive cruise following module, a constant-speed cruise control module and an engine power control module, wherein the self-adaptive cruise following module is used for identifying an environment vehicle, making a preceding vehicle following control decision and processing a self-adaptive cruise control instruction sent by a driver; the constant-speed cruise control module is used for processing a constant-speed cruise control instruction sent by a driver and switching an adaptive cruise mode and a constant-speed cruise mode; the engine power control module is used for sending a control instruction to the engine according to the engine rotating speed requirement of the self-adaptive cruising mode or the constant speed cruising mode. The invention can realize the switching between the two use states of constant-speed cruising and self-adaptive cruising, and effectively reduce the corresponding software development cost of the constant-speed cruising and the self-adaptive cruising.
Description
Technical Field
The invention relates to the field of auxiliary driving and whole vehicle electric control systems, in particular to a constant-speed-cruising-based self-adaptive cruising control system and a method.
Background
At present, an adaptive cruise control scheme of an automobile is mainly divided into an adaptive cruise following control strategy based on millimeter wave radar and longitudinal power control of the automobile, and the adaptive cruise control scheme is practically applied to the field of commercial vehicles, and the following two methods are adopted: 1. the ACC (Adaptive Cruise Control, self-adaptive cruise control) and the self-adaptive cruise controller are integrated, namely, the self-adaptive cruise following control strategy based on millimeter wave radar is realized by the same controller, longitudinal power control of the vehicle is realized by controlling the engine speed through a TSC1 message defined by SAE-J1939 protocol, only the ACC integrated controller and an engine ECU (Electronic Control Unit ) in the whole framework, the constant-speed cruise function is realized by the engine, and the TSC1 message is one of CAN (Controller Area Network ) messages and is commonly used for engine control; 2. the engine directly integrates millimeter wave radar-based environmental vehicle target recognition and adaptive cruise following control strategies.
However, most of the adaptive cruise schemes in the current commercial vehicle field have disadvantages: 1. the problem of function switching coordination between constant-speed cruise control and self-adaptive cruise is not solved, and switching of two functions in a use state cannot be realized; 2. most engine ECUs of the host factories are purchased outsourced, so that the software development cost is high, and the function decoupling performance is poor.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a self-adaptive cruise control system and a self-adaptive cruise control method based on constant-speed cruise, which are characterized in that a control instruction is sent to an engine according to the engine rotating speed requirement of a self-adaptive cruise mode or a constant-speed cruise mode through the arrangement of a self-adaptive cruise following module and a constant-speed cruise control module, the self-adaptive cruise function is realized in cooperation with the self-adaptive cruise following control module on the basis of constant-speed cruise, the switching between the two use states of constant-speed cruise and self-adaptive cruise is realized, and the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise is effectively reduced.
In order to achieve the above object, the present invention provides an adaptive cruise control system based on constant-speed cruising, comprising:
the self-adaptive cruise following module is used for identifying an environmental vehicle, making a preceding vehicle following control decision and processing a self-adaptive cruise control instruction sent by a driver;
the constant-speed cruise control module is used for processing a constant-speed cruise control instruction sent by a driver and switching an adaptive cruise mode and a constant-speed cruise mode;
and the engine power control module is used for sending a control instruction to the engine according to the engine rotating speed requirement of the self-adaptive cruise mode or the constant speed cruise mode.
On the basis of the technical scheme, the self-adaptive cruise following module is used for recognizing the environmental vehicle based on the millimeter wave radar.
On the basis of the technical scheme, the constant-speed-cruise control instruction sent by the driver comprises a constant-speed-cruise vehicle speed setting instruction and a decision instruction for the driver to intervene in the constant-speed-cruise.
On the basis of the technical scheme, the control command sent to the engine by the engine power control module comprises an engine rotating speed control command and an accelerator opening control command.
On the basis of the technical scheme, in the control request sent to the engine by the engine power control module, the priority of the engine rotating speed control command is greater than the accelerator opening control command.
According to the self-adaptive cruise control system based on the constant-speed cruise, the self-adaptive cruise following module and the constant-speed cruise control module are arranged, a control instruction is sent to the engine according to the engine rotating speed requirement of the self-adaptive cruise mode or the constant-speed cruise mode, the self-adaptive cruise function is realized by cooperation with the self-adaptive cruise following control module on the basis of constant-speed cruise, the switching between the two use states of constant-speed cruise and self-adaptive cruise is realized, and the software development cost corresponding to the constant-speed cruise and the self-adaptive cruise is effectively reduced.
The invention provides a self-adaptive cruise control method based on constant-speed cruise, which is realized based on the self-adaptive cruise control system, and comprises the steps of switching from a constant-speed cruise mode to self-adaptive cruise control and from the self-adaptive cruise to constant-speed cruise control;
under the condition of switching from constant-speed cruising to self-adaptive cruising control, setting the current vehicle speed as a basic set vehicle speed of a self-adaptive cruising mode, and controlling the engine speed or the accelerator opening based on the running condition of the front vehicle;
and under the condition of switching from the self-adaptive cruise to the constant-speed cruise control, adjusting the accelerator opening to be the accelerator opening corresponding to the rotating speed of the engine when the self-adaptive cruise mode is exited, and adjusting the vehicle speed to be the vehicle speed set by the constant-speed cruise mode.
On the basis of the technical scheme, the front vehicle driving condition comprises acceleration driving and deceleration driving.
On the basis of the technical scheme, the engine speed control or the accelerator opening control is performed based on the front vehicle driving condition, specifically comprises the following steps:
when the running condition of the front vehicle is acceleration running, an accelerator opening control instruction is sent to an engine, and the engine responds to the accelerator opening control instruction.
On the basis of the technical scheme, the engine speed control or the accelerator opening control is performed based on the front vehicle driving condition, specifically comprises the following steps:
when the running condition of the front vehicle is deceleration running, an engine speed control command is sent to the engine, and the engine responds to the engine speed control command.
On the basis of the technical scheme, the speed adjustment is set in a constant speed cruising mode, and specifically comprises the following steps:
and sending an accelerator opening control command to the engine, and uniformly adjusting the vehicle speed to the vehicle speed set by the constant speed cruising mode by the engine based on the accelerator opening control command.
Compared with the prior art, the invention has the advantages that: and the self-adaptive cruise following control module is used for realizing the self-adaptive cruise function in cooperation with the self-adaptive cruise following control module on the basis of the constant-speed cruise, realizing the switching between the two use states of the constant-speed cruise and the self-adaptive cruise, and effectively reducing the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an adaptive cruise control system based on constant speed cruising according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of hardware based on a constant-speed-cruise-based adaptive cruise control method according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a self-adaptive cruise control system based on constant-speed cruise, which is characterized in that a control instruction is sent to an engine according to the engine rotating speed requirement of a self-adaptive cruise mode or a constant-speed cruise mode through the arrangement of a self-adaptive cruise following module and a constant-speed cruise control module, and on the basis of constant-speed cruise, the self-adaptive cruise control system is cooperated with the self-adaptive cruise following control module to realize the self-adaptive cruise function, realize the switching between the two use states of constant-speed cruise and self-adaptive cruise, and effectively reduce the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise. The embodiment of the invention correspondingly provides a self-adaptive cruise control method based on constant-speed cruise, when the self-adaptive cruise control is switched from constant-speed cruise to self-adaptive cruise control, the current vehicle speed is set as the basic set vehicle speed of the self-adaptive cruise mode, engine speed control or accelerator opening control is carried out based on the driving condition of the front vehicle, when the self-adaptive cruise control is switched to the constant-speed cruise control, the accelerator opening is adjusted to the accelerator opening corresponding to the engine speed when the self-adaptive cruise mode is exited, the vehicle speed is adjusted to the vehicle speed set by the constant-speed cruise mode, and the switching between the two using states of the constant-speed cruise and the self-adaptive cruise is realized.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Referring to fig. 1, an adaptive cruise control system based on constant-speed cruise provided by an embodiment of the present invention includes an adaptive cruise following module, a constant-speed cruise control module, and an engine power control module.
The self-adaptive cruise following module is used for identifying an environmental vehicle, making a preceding vehicle following control decision and processing a self-adaptive cruise control instruction sent by a driver. In the embodiment of the invention, the self-adaptive cruise following module is used for identifying the surrounding vehicles based on the millimeter wave radar, namely, the surrounding vehicles are identified through the millimeter wave radar, so that the running states, the speed, the distance and the like of the surrounding vehicles are obtained through identification, and particularly for the front vehicles, the running speeds, the distance and the like of the front vehicles are obtained through identification, so that data support is provided for the self-adaptive cruise of the current vehicles. The adaptive cruise control command is a control command for the adaptive cruise mode of the vehicle, such as on/off of the adaptive cruise mode, speed adjustment, etc., issued by the driver.
The constant-speed cruise control module is used for processing a constant-speed cruise control instruction sent by a driver and switching an adaptive cruise mode and a constant-speed cruise mode; in the embodiment of the invention, the constant-speed-cruise control instruction sent by the driver comprises a constant-speed-cruise vehicle speed setting instruction and a constant-speed-cruise intervention decision instruction, and the constant-speed-cruise intervention decision instruction comprises the starting and closing of a constant-speed-cruise mode and the like. The cruise control vehicle speed setting instruction is an adjustment instruction for setting the vehicle speed in the cruise control mode. The constant-speed cruise control module in the embodiment of the invention is equivalent to a cooperative module and is used for realizing the switching between the self-adaptive cruise mode and the constant-speed cruise mode, so that the engine power control module can send a control instruction to the engine according to the engine rotating speed requirement of the self-adaptive cruise mode or the constant-speed cruise mode.
And the engine power control module is used for sending a control instruction to the engine according to the engine rotating speed requirement of the self-adaptive cruise mode or the constant speed cruise mode. In the embodiment of the invention, the control command sent by the engine power control module to the engine comprises an engine rotating speed control command and an accelerator opening control command, and in the control request sent by the engine power control module to the engine, the priority of the engine rotating speed control command is greater than the accelerator opening control command.
And the self-adaptive cruise following control module is used for realizing the self-adaptive cruise function in cooperation with the self-adaptive cruise following control module on the basis of the constant-speed cruise, realizing the switching between the two use states of the constant-speed cruise and the self-adaptive cruise, and effectively reducing the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise.
Referring to fig. 1 specifically, for the adaptive Cruise Control system according to the embodiment of the present invention, an ACC (Cruise Control) state signal and a CC (Cruise Control) state signal are interacted between an adaptive Cruise following module and a constant Cruise Control module, the adaptive Cruise following module sends the ACC state signal to the constant Cruise Control module, the constant Cruise Control module sends the CC state signal to the adaptive Cruise following module, under the synergistic effect of the constant Cruise Control module, the adaptive Cruise following module sends a Control signal corresponding to a target rotation speed to an engine power Control module, the constant Cruise Control module sends a Control signal corresponding to a target torque to the engine power Control module, the engine power Control module sends a TSC1 message to a brake system of a vehicle, and the engine power Control module sends a TSC1 message and a Control signal corresponding to an accelerator opening to the power system of the vehicle.
According to the self-adaptive cruise control system based on the constant-speed cruise, the self-adaptive cruise following module and the constant-speed cruise control module are arranged, a control instruction is sent to the engine according to the engine rotating speed requirement of the self-adaptive cruise mode or the constant-speed cruise mode, the self-adaptive cruise control system and the self-adaptive cruise following control module are cooperated to realize the self-adaptive cruise function on the basis of the constant-speed cruise, the switching between the two use states of the constant-speed cruise and the self-adaptive cruise is realized, and the software development cost corresponding to the constant-speed cruise and the self-adaptive cruise is effectively reduced.
The adaptive cruise control method based on the constant-speed cruise is realized based on the adaptive cruise control system, and concretely comprises the steps of switching from a constant-speed cruise mode to adaptive cruise control and switching from the adaptive cruise to constant-speed cruise control.
For switching from constant-speed cruise to adaptive cruise control, specifically: the current vehicle speed is set as a basic set vehicle speed of the self-adaptive cruise mode, and engine speed control or accelerator opening control is performed based on the running condition of the front vehicle.
For switching from adaptive cruise to constant-speed cruise control, specifically: and adjusting the throttle opening to be the throttle opening corresponding to the engine rotating speed when the self-adaptive cruise mode is exited, and adjusting the vehicle speed to be the vehicle speed set by the constant-speed cruise mode.
In the embodiment of the invention, the driving conditions of the front vehicle comprise acceleration driving and deceleration driving.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is acceleration running, an accelerator opening control instruction is sent to an engine, and the engine responds to the accelerator opening control instruction.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is deceleration running, an engine speed control command is sent to the engine, and the engine responds to the engine speed control command.
The vehicle speed is adjusted to be the vehicle speed set in the constant speed cruising mode, and specifically: and sending an accelerator opening control command to the engine, and uniformly adjusting the vehicle speed to the vehicle speed set by the constant speed cruising mode by the engine based on the accelerator opening control command.
When the whole vehicle is switched from a constant-speed cruising mode to an adaptive cruising mode, setting the current vehicle speed as the basic set vehicle speed of the adaptive cruising mode, and then, based on the running condition of the front vehicle, when the running condition of the front vehicle is acceleration running, not sending an engine rotation speed control instruction to an engine, only sending an accelerator opening control instruction to the engine, and responding to the accelerator opening control instruction by the engine; when the running condition of the front vehicle is deceleration running, an accelerator opening control command is not sent to the engine, an engine rotating speed control command is only sent to the engine, and the engine responds to the engine rotating speed control command.
When the self-adaptive cruise mode in the whole vehicle is switched to the constant-speed cruise mode, the throttle opening is adjusted to be the throttle opening corresponding to the engine rotating speed when the self-adaptive cruise mode is exited, and the vehicle speed is adjusted to be the vehicle speed set by the constant-speed cruise mode.
The adaptive cruise control method based on constant-speed cruise can be performed according to the hardware shown in fig. 2 when the adaptive cruise control method is applied. In fig. 2, the ACC controller and the CC controller perform interaction between an ACC state signal and a CC state signal, the ACC controller sends the ACC state signal to the CC controller, and the CC controller sends the CC state signal to the ACC controller, so that under the synergistic effect of the CC controllers, the adaptive cruise mode and the constant-speed cruise mode are switched.
The ACC controller is connected with an adaptive cruise switch, and the adaptive cruise mode is started and closed through the adaptive cruise switch. The CC controller is connected with a cruise switch and an accelerator pedal, the cruise switch is used for realizing the start and the stop of a constant-speed cruise mode, and a corresponding accelerator opening signal is input through the accelerator pedal. The ACC controller outputs a TSC1 message to the vehicle retarder, EBS (Electronic Brake Systems, electronic brake system) and engine, and the CC controller outputs an accelerator opening control command to the vehicle retarder, EBS and engine.
When the ACC function does not exist, the CC controller controls the engine to perform constant-speed cruise control through the opening degree of the accelerator; when the ACC function exists, the CC controller is responsible for accelerating scenes, and the ACC controller brakes scenes negatively; the CC controller performs synergy of related signals and smooth transition of the vehicle speed at the time of ACC and CC mode switching. Compared with the prior constant-speed cruising architecture scheme, the self-adaptive cruising of the vehicle can be realized by additionally arranging the ACC controller to control braking.
According to the self-adaptive cruise control method based on the constant-speed cruise, when the self-adaptive cruise control is switched from the constant-speed cruise to the self-adaptive cruise control, the current vehicle speed is set to be the basic set vehicle speed of the self-adaptive cruise mode, engine speed control or accelerator opening control is carried out based on the driving condition of the front vehicle, when the self-adaptive cruise control is switched from the self-adaptive cruise to the constant-speed cruise control, the accelerator opening is adjusted to be the accelerator opening corresponding to the engine speed when the self-adaptive cruise mode is exited, the vehicle speed is adjusted to be the set vehicle speed of the constant-speed cruise mode, the switching between the two using states of the constant-speed cruise and the self-adaptive cruise is realized, and the software development cost corresponding to the constant-speed cruise and the self-adaptive cruise is effectively reduced.
The embodiment of the present invention also provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the adaptive cruise control method described above. The adaptive cruise control method includes switching from a constant-speed-cruise mode to adaptive cruise control and switching from adaptive cruise to constant-speed-cruise control
Under the condition of switching from constant-speed cruising to self-adaptive cruising control, setting the current vehicle speed as a basic set vehicle speed of a self-adaptive cruising mode, and controlling the engine speed or the accelerator opening based on the running condition of the front vehicle;
and under the condition of switching from the self-adaptive cruise to the constant-speed cruise control, adjusting the accelerator opening to be the accelerator opening corresponding to the rotating speed of the engine when the self-adaptive cruise mode is exited, and adjusting the vehicle speed to be the vehicle speed set by the constant-speed cruise mode.
In the embodiment of the invention, the driving conditions of the front vehicle comprise acceleration driving and deceleration driving.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is acceleration running, an accelerator opening control instruction is sent to an engine, and the engine responds to the accelerator opening control instruction.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is deceleration running, an engine speed control command is sent to the engine, and the engine responds to the engine speed control command.
The vehicle speed is adjusted to be the vehicle speed set in the constant speed cruising mode, and specifically: and sending an accelerator opening control command to the engine, and uniformly adjusting the vehicle speed to the vehicle speed set by the constant speed cruising mode by the engine based on the accelerator opening control command.
When the whole vehicle is switched from a constant-speed cruising mode to an adaptive cruising mode, setting the current vehicle speed as the basic set vehicle speed of the adaptive cruising mode, and then, based on the running condition of the front vehicle, when the running condition of the front vehicle is acceleration running, not sending an engine rotation speed control instruction to an engine, only sending an accelerator opening control instruction to the engine, and responding to the accelerator opening control instruction by the engine; when the running condition of the front vehicle is deceleration running, an accelerator opening control command is not sent to the engine, an engine rotating speed control command is only sent to the engine, and the engine responds to the engine rotating speed control command.
When the self-adaptive cruise mode in the whole vehicle is switched to the constant-speed cruise mode, the throttle opening is adjusted to be the throttle opening corresponding to the engine rotating speed when the self-adaptive cruise mode is exited, and the vehicle speed is adjusted to be the vehicle speed set by the constant-speed cruise mode.
And the self-adaptive cruise following control module is used for realizing the self-adaptive cruise function in cooperation with the self-adaptive cruise following control module on the basis of the constant-speed cruise, realizing the switching between the two use states of the constant-speed cruise and the self-adaptive cruise, and effectively reducing the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise.
The storage media may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
When the self-adaptive cruise control is switched from the constant-speed cruise to the self-adaptive cruise control, the current vehicle speed is set as the basic set vehicle speed of the self-adaptive cruise mode, the engine speed control or the accelerator opening control is carried out based on the driving condition of the front vehicle, when the self-adaptive cruise control is switched to the constant-speed cruise control, the accelerator opening is adjusted to the accelerator opening corresponding to the engine speed when the self-adaptive cruise mode is exited, the vehicle speed is adjusted to the vehicle speed set by the constant-speed cruise mode, the switching between the two using states of the constant-speed cruise and the self-adaptive cruise is realized, and the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise is effectively reduced.
The embodiment of the invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the adaptive cruise control method described in the embodiment are realized when the processor executes the program.
The adaptive cruise control method includes switching from a constant-speed-cruise mode to adaptive cruise control and switching from adaptive cruise to constant-speed-cruise control
Under the condition of switching from constant-speed cruising to self-adaptive cruising control, setting the current vehicle speed as a basic set vehicle speed of a self-adaptive cruising mode, and controlling the engine speed or the accelerator opening based on the running condition of the front vehicle;
and under the condition of switching from the self-adaptive cruise to the constant-speed cruise control, adjusting the accelerator opening to be the accelerator opening corresponding to the rotating speed of the engine when the self-adaptive cruise mode is exited, and adjusting the vehicle speed to be the vehicle speed set by the constant-speed cruise mode.
In the embodiment of the invention, the driving conditions of the front vehicle comprise acceleration driving and deceleration driving.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is acceleration running, an accelerator opening control instruction is sent to an engine, and the engine responds to the accelerator opening control instruction.
The engine speed control or the accelerator opening control is performed based on the driving condition of the front vehicle, and specifically comprises the following steps: when the running condition of the front vehicle is deceleration running, an engine speed control command is sent to the engine, and the engine responds to the engine speed control command.
The vehicle speed is adjusted to be the vehicle speed set in the constant speed cruising mode, and specifically: and sending an accelerator opening control command to the engine, and uniformly adjusting the vehicle speed to the vehicle speed set by the constant speed cruising mode by the engine based on the accelerator opening control command.
When the whole vehicle is switched from a constant-speed cruising mode to an adaptive cruising mode, setting the current vehicle speed as the basic set vehicle speed of the adaptive cruising mode, and then, based on the running condition of the front vehicle, when the running condition of the front vehicle is acceleration running, not sending an engine rotation speed control instruction to an engine, only sending an accelerator opening control instruction to the engine, and responding to the accelerator opening control instruction by the engine; when the running condition of the front vehicle is deceleration running, an accelerator opening control command is not sent to the engine, an engine rotating speed control command is only sent to the engine, and the engine responds to the engine rotating speed control command.
When the self-adaptive cruise mode in the whole vehicle is switched to the constant-speed cruise mode, the throttle opening is adjusted to be the throttle opening corresponding to the engine rotating speed when the self-adaptive cruise mode is exited, and the vehicle speed is adjusted to be the vehicle speed set by the constant-speed cruise mode.
When the self-adaptive cruise control is switched from the constant-speed cruise to the self-adaptive cruise control, the current vehicle speed is set as the basic set vehicle speed of the self-adaptive cruise mode, the engine speed control or the accelerator opening control is carried out based on the driving condition of the front vehicle, when the self-adaptive cruise control is switched to the constant-speed cruise control, the accelerator opening is adjusted to the accelerator opening corresponding to the engine speed when the self-adaptive cruise mode is exited, the vehicle speed is adjusted to the vehicle speed set by the constant-speed cruise mode, the switching between the two using states of the constant-speed cruise and the self-adaptive cruise is realized, and the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise is effectively reduced.
And the self-adaptive cruise following control module is used for realizing the self-adaptive cruise function in cooperation with the self-adaptive cruise following control module on the basis of the constant-speed cruise, realizing the switching between the two use states of the constant-speed cruise and the self-adaptive cruise, and effectively reducing the corresponding software development cost of the constant-speed cruise and the self-adaptive cruise.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (6)
1. A control method of an adaptive cruise control system based on constant-speed cruising for a commercial vehicle is characterized in that,
the adaptive cruise control system based on constant-speed cruising includes:
the self-adaptive cruise following module is used for identifying an environmental vehicle, making a preceding vehicle following control decision and processing a self-adaptive cruise control instruction sent by a driver;
the constant-speed cruise control module is used for processing a constant-speed cruise control instruction sent by a driver and switching an adaptive cruise mode and a constant-speed cruise mode;
the engine power control module is used for sending a control instruction to the engine according to the engine rotating speed requirement of the self-adaptive cruising mode or the constant speed cruising mode;
the self-adaptive cruise control instruction is a control instruction which is sent by a driver and used for controlling a vehicle self-adaptive cruise mode, and comprises the opening and closing of the self-adaptive cruise mode and speed adjustment;
the adaptive cruise following module sends ACC state signals to the constant-speed cruise control module, and the constant-speed cruise control module sends CC state signals to the adaptive cruise following module, so that under the cooperative action of the constant-speed cruise control module, the switching between an adaptive cruise mode and a constant-speed cruise mode is realized;
the control method comprises the steps of switching from a constant-speed cruise mode to an adaptive cruise control and switching from the adaptive cruise to the constant-speed cruise control;
under the condition of switching from constant-speed cruising to self-adaptive cruising control, setting the current vehicle speed as a basic set vehicle speed of a self-adaptive cruising mode, and controlling the engine speed or the accelerator opening based on the running condition of the front vehicle;
under the condition of switching from the self-adaptive cruise to the constant-speed cruise control, adjusting the throttle opening to be the throttle opening corresponding to the rotating speed of the engine when the self-adaptive cruise mode is exited, and adjusting the vehicle speed to be the vehicle speed set by the constant-speed cruise mode;
the front vehicle running condition includes acceleration running and deceleration running;
the engine speed control or the accelerator opening control is performed based on the front vehicle driving condition, specifically:
when the running condition of the current vehicle is acceleration running, an accelerator opening control instruction is sent to an engine, and the engine responds to the accelerator opening control instruction;
the engine speed control or the accelerator opening control is performed based on the front vehicle driving condition, specifically:
when the running condition of the front vehicle is deceleration running, an engine rotating speed control instruction is sent to the engine, and the engine responds to the engine rotating speed control instruction;
the control method is based on an ACC controller and a CC controller, the ACC controller and the CC controller are interacted with each other for ACC state signals and CC state signals, the ACC controller sends ACC state signals to the CC controller, the CC controller sends CC state signals to the ACC controller, and under the synergistic effect of the CC controller, the switching between a self-adaptive cruising mode and a constant-speed cruising mode is realized;
the ACC controller is connected with an adaptive cruise switch, and the adaptive cruise mode is switched on and off through the adaptive cruise switch; the CC controller is connected with a cruise switch and an accelerator pedal, the cruise switch is used for realizing the starting and the closing of a constant-speed cruise mode, and a corresponding accelerator opening signal is input through the accelerator pedal; the ACC controller outputs TSC1 messages to the vehicle speed reducer, the electronic braking system EBS and the engine, and the CC controller outputs throttle opening control instructions to the vehicle speed reducer, the EBS and the engine;
when the ACC function does not exist, the CC controller controls the engine to perform constant-speed cruise control through the opening degree of the accelerator; when the ACC function exists, the CC controller is responsible for accelerating scenes, and the ACC controller brakes scenes negatively; the CC controller performs synergy of related signals and smooth transition of the vehicle speed at the time of ACC and CC mode switching.
2. A control method of an adaptive cruise control system for a commercial vehicle based on constant speed cruising as claimed in claim 1, characterized by: the self-adaptive cruise following module is used for identifying the environmental vehicle based on the millimeter wave radar.
3. A control method of an adaptive cruise control system for a commercial vehicle based on constant speed cruising as claimed in claim 1, characterized by: the constant-speed cruise control instruction sent by the driver comprises a constant-speed cruise speed setting instruction and a decision instruction for the driver to intervene in the constant-speed cruise.
4. A control method of an adaptive cruise control system for a commercial vehicle based on constant speed cruising as claimed in claim 1, characterized by: the control instructions sent to the engine by the engine power control module comprise an engine rotating speed control instruction and an accelerator opening control instruction.
5. A control method of a constant-speed-cruise-based adaptive cruise control system for a commercial vehicle according to claim 4, characterized by: in the control request sent to the engine by the engine power control module, the priority of the engine rotating speed control command is greater than the accelerator opening control command.
6. The control method of an adaptive cruise control system for a commercial vehicle according to claim 1, wherein the adjusted vehicle speed is a vehicle speed set in a constant cruise mode, specifically:
and sending an accelerator opening control command to the engine, and uniformly adjusting the vehicle speed to the vehicle speed set by the constant speed cruising mode by the engine based on the accelerator opening control command.
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