CN113428145A - Traffic intersection STOP & GO cruising method - Google Patents
Traffic intersection STOP & GO cruising method Download PDFInfo
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- CN113428145A CN113428145A CN202110676669.2A CN202110676669A CN113428145A CN 113428145 A CN113428145 A CN 113428145A CN 202110676669 A CN202110676669 A CN 202110676669A CN 113428145 A CN113428145 A CN 113428145A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
Abstract
The invention discloses a traffic intersection STOP & GO cruising method, which comprises the following steps: the method comprises the following steps: processing the information of the vehicle and calculating the expected acceleration; step two: acceleration is processed through a fuzzy control algorithm, real data are obtained and transmitted to the vehicle, and therefore effective control of the vehicle is achieved. The invention aims at an automobile which runs at a certain speed and is provided with a Stop & Go cruise system, and the speed trajectory of the automobile when the automobile runs at a constant speed and is braked and accelerated to start when meeting a front automobile is simulated by adopting certain experimental data. Fuzzy control is added in the acceleration preprocessing process, and the processing of STOP & GO cruise on acceleration is realized. The STOP & GO cruising method can better control the vehicle to finally realize the control of the vehicle speed through the measurement of the information of the current vehicle road and the like in the test process, and can better avoid the common problems in urban traffic such as collision, red light running and the like.
Description
Technical Field
The invention relates to the technical field of cruise control of an automatic driving automobile, in particular to a cruise control method for STOP and GO at a traffic intersection.
Background
The automobile Adaptive Cruise Control (ACC) covers the well-known constant-speed cruise function and monitoring function, namely, it can control the constant-speed running of the automobile and also can monitor various conditions in front of the running automobile, such as searching the front automobile and its running state, the distance between two automobiles, etc., and then perform corresponding speed control on the automobile to make the automobile run safely.
The working scene that the self-adaptive cruise control of the automobile is suitable for is mainly in a high-speed driving state, and the scene ACC which is relatively low in speed and very frequent in vehicle control under the urban working condition can not work effectively any more, so a STOP & GO cruise control system is provided to adapt to the complex urban working condition.
Compared with ACC, STOP & GO cruise control is mainly suitable for urban conditions, under the conditions, the speed of the vehicle is quite low (< 40 KM/H), and a driver can perform more operations on the vehicle in a short time, such as acceleration and deceleration, STOP and start, adjustment of a safe driving distance with a front vehicle and the like. The STOP & GO cruise control system can intelligently carry out a series of operations on vehicles to realize the changes, and can also detect traffic lights to realize the problems of automatic waiting, parking starting and the like at traffic intersections. The vehicle with the STOP and GO function can effectively avoid the problems of collision with a front vehicle and running a red light, meanwhile, the working intensity of a driver is relieved, the driver only needs to operate a steering wheel for a certain time in the driving process, and the driver who must operate an accelerator throttle of the vehicle for ten times per minute is undoubtedly a good message in the troublesome urban working condition. It is well known that the current domestic traffic problem is a big problem which is very concerned by the country last time, and has a trend of going more and more fiercely, under the environment, the STOP & GO cruise system specially aiming at the urban working condition is very significant.
Disclosure of Invention
The invention aims to provide a STOP & GO cruising method at a traffic intersection, which can enable a vehicle with a STOP & GO cruising system to be well adapted to complex urban working conditions, finally realize the control of the vehicle speed through the measurement of information such as a current vehicle road and the like, and can better avoid common problems in urban traffic such as collision, red light running and the like.
The technical scheme provided by the invention is as follows: a cruise method of STOP and GO at a traffic intersection comprises the following steps:
the method comprises the following steps: processing the information of the vehicle and calculating the expected acceleration;
step two: the acceleration is processed through a fuzzy control algorithm to obtain real data which are transmitted to the vehicle, so that the effective control of the vehicle is realized;
step three: the data for the STOP & GO cruise algorithm was simulated.
Further, the change in the acceleration of the vehicle in the step one depends on the performance of the vehicle itself and the operation of the driver or the controller. For driving safety, the maximum acceleration of the vehicle is often much greater than the maximum braking capacity of the vehicle:
(1) when the actual distance between two vehicles is larger than the safe distance in the current state, or no vehicle is in front of the current vehicle, the vehicle can run at the highest speed as possible under the condition of conforming to the current traffic control, and the acceleration is as follows:
accelerate=(MAXSPEED-speed)/2；
(2) when the vehicle is within the safe distance, the current acceleration and speed must ensure that the vehicle is driven safely by the displacement formula, because the safe distance is related to the current speed and the maximum braking speed:
（speed+speed+acclerate*t）*t/2=distance
the change in acceleration is derived:
accelerate=(distance-speed*t)*2/t/t。
furthermore, the fuzzy control algorithm in the step two is used for correcting the acceleration, so that the effective and reasonable control on the vehicle track change is realized.
The fuzzy controller in the present invention selects a mode of two-parameter input. The fuzzy control rule is as follows:
(1) language set of input and output quantities
Acceleration variable E:
｛NB，NS，PS，PB｝;
acceleration rate EC:
｛NB，NS，PS，PB｝;
output U:
｛NB，NM，NS，ZO，PS，PM，PB｝
(2) value range of input and output quantities
Acceleration value range:
in order to better realize the simulation of urban working conditions, the maximum acceleration is set to be 5m/s, the maximum braking acceleration is set to be 10m/s, and therefore the value range of the acceleration is [ -10, 5];
acceleration rate value range:
the time interval adopted by the STOP & GO cruise controller is 0.2s, the maximum deviation rate of the acceleration is da (+)/dt =25, the minimum deviation rate is da (-)/dt =50 can be calculated by the maximum acceleration and the maximum braking acceleration given above, and the value range of the acceleration deviation rate is [ -50, 25 ];
output rate of change range:
the output quantity is the actual acceleration, and the value range of the output quantity is the same as the value range of the acceleration according to the stability of the automobile performance, so the value range of the output quantity is also [ -10, 5];
(3) determination of degree of membership
A fuzzy controller adopting a triangular membership function;
(4) establishment of fuzzy control rule
The feeling of the vehicle speed in the running process of the vehicle is divided into four grades of fast, slow and slow. The fuzzy control rule set is as follows:
furthermore, the main program of the fuzzy controller in the fuzzy control algorithm of step two comprises the following steps:
(1) transferring parameters;
(2) traversing a first rule;
(3) if yes, turning to the step (5), otherwise, executing the step (4);
(4) storing the last ambiguity value;
(5) calling a calculation subprogram;
(6) judging whether all the rules are traversed or not, if so, calculating fuzzy output, otherwise, traversing the next rule, and turning to the step (3);
(7) the center of gravity method is used for anti-blurring.
Further, the data simulation in step three comprises the following steps:
(1) program initialization:
a. initializing road information: initializing road traffic light information, generating traffic lights at road non-fixed positions, and initializing the maximum speed limit of the road, wherein the maximum speed limit of the road is 30 km/h;
b. initializing vehicle information: initializing vehicle performance, setting the maximum braking capacity of the vehicle to be-10 m/s2 and the maximum acceleration to be 5m/s2, initializing the initial speed of the vehicle according to test items, and initializing the position information of the vehicle;
c. initializing traffic light information: initializing traffic light change, and setting traffic lights to perform mutual conversion among the red lights, the yellow lights and the green lights according to a certain rule and time intervals;
(2) the data simulation of the STOP & GO cruise algorithm is researched by aiming at the data simulation under various possible conditions in urban working conditions as follows:
a. the vehicle is started automatically: initializing vehicle information, wherein the distance between vehicles is the default minimum displacement deviation of 2m when the vehicles are static, starting a STOP & GO cruise system, accelerating a first vehicle in a fleet from the static state, accelerating the first vehicle to the maximum speed at a constant acceleration without encountering obstacles in the front of the first vehicle in the test process;
b. following the front low-speed vehicle: the front vehicle runs at a constant speed of 15m/s, the speed of the rear vehicle is lower than that of the front vehicle in the running process, the vehicle is provided with and starts the STOP & GO cruise control system, and the STOP & GO cruise control system can effectively and reasonably control the distance between the two vehicles according to the speed of the vehicle in the acceleration process, so that the two vehicles keep a safe running distance and avoid collision;
c. acceleration of the vehicle in front: when the states of the two vehicles are stable, the front vehicle suddenly accelerates, the rear following vehicle also carries out corresponding acceleration behaviors along with the information of the front vehicle, in the acceleration process, the STOP & GO cruise controller always monitors the distance between the two vehicles so that the distance between the two vehicles is basically kept at the safe distance, and after the speed of the front vehicle is stable, the STOP & GO cruise system also controls the vehicle to carry out final adjustment so that the speed of the vehicle is stable and the distance between the two vehicles is also stable;
d. deceleration of the vehicle in front: the motorcade initially runs at a constant speed at the maximum speed, when the states of two vehicles are stable, the front vehicle decelerates, and the STOP & GO cruise system processes vehicle test data to avoid collision of the two vehicles;
e. the parking-starting process of the front vehicle: when the speed of the vehicle is stable, the two vehicles enter a traffic light range, the STOP & GO cruise control system can control the actions of automatic starting and automatic following, the actions of the two vehicles are always kept in a safety characteristic in the control process, when the red and green light indication shows that the two vehicles are in a red light state, the motorcade decelerates until the two vehicles are static, when the red and green light signal is changed into a green light, the vehicles are automatically started, and the rear vehicle and the front vehicle keep a safe driving distance. The distance between the two vehicles is related to the current speed, so that when the speed becomes smaller, the distance between the two vehicles also becomes smaller.
The invention has the beneficial effects that: the invention provides a traffic intersection STOP & GO cruising method. Secondly, acceleration is processed through a fuzzy control algorithm to obtain real data, and the real data are transmitted to the vehicle, so that effective control of the vehicle is achieved. Finally, the data of the STOP & GO cruise algorithm are simulated for a plurality of possible conditions in the urban working conditions. The simulation result shows that the invention realizes the functions of automatic starting and automatic stopping of the vehicle, can better control the vehicle in the test process, and effectively solves the problems of urban traffic such as collision, running red light and the like in the simulation process.
Drawings
FIG. 1 is a flow chart of a traffic intersection STOP & GO cruise method of the present invention;
FIG. 2 is a diagram of the main program structure of the fuzzy controller;
FIG. 3 is a flowchart of the STOP & GO cruise system fuzzy algorithm routine;
FIG. 4 is a simulation effect diagram of a vehicle starting situation;
FIG. 5 is a simulation effect diagram of the following situation of the vehicle;
FIG. 6 is a diagram of a simulation effect of a front vehicle acceleration situation;
FIG. 7 is a diagram of the effect of a simulation of a deceleration situation of a preceding vehicle;
fig. 8 is a simulation effect diagram of the vehicle parking and starting condition.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.
As shown in fig. 1, the invention provides a STOP & GO cruising method at a traffic intersection, which processes information of a vehicle and calculates an expected acceleration. And processing the acceleration by adopting a fuzzy control algorithm to obtain real data, and transmitting the real data to the vehicle. The data of the STOP & GO cruise algorithm are simulated for a variety of conditions that may exist in urban conditions. The steps are as follows.
The method comprises the following steps: the information of the vehicle is processed and a desired acceleration is calculated. The change in vehicle acceleration depends on the performance of the vehicle itself and the operation of the driver or controller. For driving safety, the maximum acceleration of the vehicle is often much greater than the maximum braking capacity of the vehicle:
(1) when the actual distance between two vehicles is larger than the safe distance in the current state, or no vehicle is in front of the current vehicle, the vehicle can run at the highest speed as possible under the condition of conforming to the current traffic control, and the acceleration is as follows:
accelerate=(MAXSPEED-speed)/2；
(2) when the vehicle is within the safe distance, the current acceleration and speed must ensure that the vehicle is driven safely by the displacement formula, because the safe distance is related to the current speed and the maximum braking speed:
（speed+speed+acclerate*t）*t/2=distance
the change in acceleration is derived:
accelerate=(distance-speed*t)*2/t/t。
step two: acceleration is processed through a fuzzy control algorithm, real data are obtained and transmitted to the vehicle, and therefore effective control of the vehicle is achieved. The fuzzy control algorithm is used for correcting the acceleration, so that the effective and reasonable control on the vehicle track change is realized.
The fuzzy controller in the present invention selects a mode of two-parameter input. The fuzzy control rule is as follows:
(1) language set of input and output quantities
Acceleration variable E:
｛NB，NS，PS，PB｝;
acceleration rate EC:
｛NB，NS，PS，PB｝;
output U:
｛NB，NM，NS，ZO，PS，PM，PB｝
(2) value range of input and output quantities
Acceleration value range:
in order to better realize the simulation of urban working conditions, the maximum acceleration is set to be 5m/s, the maximum braking acceleration is set to be 10m/s, and therefore the value range of the acceleration is [ -10, 5];
acceleration rate value range:
the time interval adopted by the STOP & GO cruise controller is 0.2s, the maximum deviation rate of the acceleration is da (+)/dt =25, the minimum deviation rate is da (-)/dt =50 can be calculated by the maximum acceleration and the maximum braking acceleration given above, and the value range of the acceleration deviation rate is [ -50, 25 ];
output rate of change range:
the output quantity is the actual acceleration, and the value range of the output quantity is the same as the value range of the acceleration according to the stability of the automobile performance, so the value range of the output quantity is also [ -10, 5];
(3) determination of degree of membership
A fuzzy controller adopting a triangular membership function;
(4) establishment of fuzzy control rule
The feeling of the vehicle speed in the running process of the vehicle is divided into four grades of fast, slow and slow. The fuzzy control rule set is as follows:
the structure diagram of the main program of the fuzzy controller in the fuzzy control algorithm is shown in fig. 2, and the specific steps are as follows:
(1) transferring parameters;
(2) traversing a first rule;
(3) if yes, turning to the step (5), otherwise, executing the step (4);
(4) storing the last ambiguity value;
(5) calling a calculation subprogram;
(6) judging whether all the rules are traversed or not, if so, calculating fuzzy output, otherwise, traversing the next rule, and turning to the step (3);
(7) the center of gravity method is used for anti-blurring.
A flowchart of the STOP & GO cruise system fuzzy algorithm routine is shown in fig. 3.
Step three: the data for the STOP & GO cruise algorithm was simulated. The method comprises the following steps:
(1) program initialization:
a. initializing road information: initializing road traffic light information, generating traffic lights at road non-fixed positions, and initializing the maximum speed limit of the road, wherein the maximum speed limit of the road is 30 km/h;
b. initializing vehicle information: initializing vehicle performance, setting the maximum braking capacity of the vehicle to be-10 m/s2 and the maximum acceleration to be 5m/s2, initializing the initial speed of the vehicle according to test items, and initializing the position information of the vehicle;
c. initializing traffic light information: initializing traffic light change, and setting traffic lights to perform mutual conversion among the red lights, the yellow lights and the green lights according to a certain rule and time intervals;
(2) the data simulation of the STOP & GO cruise algorithm is researched by aiming at the data simulation under various possible conditions in urban working conditions as follows:
a. the vehicle is started automatically: initializing vehicle information, setting the distance between vehicles as default minimum displacement deviation 2m when the vehicles are static, starting a STOP & GO cruise system, accelerating a first vehicle in a fleet from the static state, accelerating the first vehicle to the maximum speed at constant acceleration without encountering obstacles in the front of the first vehicle in the test process. The simulation effect graph is shown in FIG. 4;
b. following the front low-speed vehicle: the front vehicle runs at a constant speed of 15m/s, the speed of the rear vehicle is smaller than that of the front vehicle in the running process, the STOP & GO cruise control system is equipped and started, and in the acceleration process, the STOP & GO cruise control system can effectively and reasonably control the distance between the two vehicles according to the speed of the vehicle, so that the two vehicles keep a safe running distance and avoid collision. The simulation effect graph is shown in FIG. 5;
c. acceleration of the vehicle in front: when the states of the two vehicles are stable, the front vehicle accelerates suddenly, the rear following vehicle can also perform corresponding acceleration behaviors along with the information of the front vehicle, in the acceleration process, the STOP & GO cruise controller can monitor the distance between the two vehicles all the time to enable the distance between the two vehicles to be kept about the safe distance basically, and after the speed of the front vehicle is stable, the STOP & GO cruise system can control the vehicle to perform final adjustment to enable the speed of the vehicle to be stable and the distance between the two vehicles to be stable. The simulation effect graph is shown in FIG. 6;
d. deceleration of the vehicle in front: the motorcade initially runs at the maximum speed at a constant speed, when the states of the two vehicles are stable, the front vehicle decelerates, and the STOP & GO cruise system processes vehicle test data to avoid collision of the two vehicles. The simulation effect graph is shown in FIG. 7;
e. the parking-starting process of the front vehicle: when the speed of the vehicle is stable, the two vehicles enter a traffic light range, the STOP & GO cruise control system can control the actions of automatic starting and automatic following, the actions of the two vehicles are always kept in a safety characteristic in the control process, when the red and green light indication shows that the two vehicles are in a red light state, the motorcade decelerates until the two vehicles are static, when the red and green light signal is changed into a green light, the vehicles are automatically started, and the rear vehicle and the front vehicle keep a safe driving distance. The distance between the two vehicles is related to the current speed, so that when the speed becomes smaller, the distance between the two vehicles also becomes smaller. The simulation effect graph is shown in fig. 8.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (5)
1. A cruise method of STOP and GO at a traffic intersection is characterized by comprising the following steps:
the method comprises the following steps: processing the information of the vehicle and calculating the expected acceleration;
step two: the acceleration is processed through a fuzzy control algorithm to obtain real data which are transmitted to the vehicle, so that the effective control of the vehicle is realized;
step three: the data for the STOP & GO cruise algorithm was simulated.
2. The method for cruising at a traffic intersection STOP & GO as claimed in claim 1, wherein the acceleration of the vehicle in the first step varies depending on the performance of the vehicle itself and the operation of the driver or the controller, and the maximum acceleration of the vehicle is often much larger than the maximum braking capability of the vehicle for driving safety:
(1) when the actual distance between two vehicles is larger than the safe distance in the current state, or no vehicle is in front of the current vehicle, the vehicle can run at the highest speed as possible under the condition of conforming to the current traffic control, and the acceleration is as follows:
accelerate=(MAXSPEED-speed)/2；
(2) when the vehicle is within the safe distance, the current acceleration and speed must ensure that the vehicle is driven safely by the displacement formula, because the safe distance is related to the current speed and the maximum braking speed:
（speed+speed+acclerate*t）*t/2=distance
the change in acceleration is derived:
accelerate=(distance-speed*t)*2/t/t。
3. the method for cruising at a traffic intersection STOP & GO as claimed in claim 1, wherein said fuzzy control algorithm of step two is used to correct acceleration so as to achieve effective and reasonable control of vehicle trajectory change, the fuzzy controller of the present invention selects a mode of two-parameter input, and the fuzzy control rule is as follows:
(1) language set of input and output quantities
Acceleration variable E:
｛NB，NS，PS，PB｝;
acceleration rate EC:
｛NB，NS，PS，PB｝;
output U:
｛NB，NM，NS，ZO，PS，PM，PB｝
(2) value range of input and output quantities
Acceleration value range:
in order to better realize the simulation of urban working conditions, the maximum acceleration is set to be 5m/s, the maximum braking acceleration is set to be 10m/s, and therefore the value range of the acceleration is [ -10, 5];
acceleration rate value range:
the time interval adopted by the STOP & GO cruise controller is 0.2s, the maximum deviation rate of the acceleration is da (+)/dt =25, the minimum deviation rate is da (-)/dt =50 can be calculated by the maximum acceleration and the maximum braking acceleration given above, and the value range of the acceleration deviation rate is [ -50, 25 ];
output rate of change range:
the output quantity is the actual acceleration, and the value range of the output quantity is the same as the value range of the acceleration according to the stability of the automobile performance, so the value range of the output quantity is also [ -10, 5];
(3) determination of degree of membership
A fuzzy controller adopting a triangular membership function;
(4) establishment of fuzzy control rule
The feeling of the vehicle speed in the driving process of the vehicle is divided into four grades of fast, slow and slow, and the fuzzy control rule set is as follows:
4. the method for cruising at a traffic intersection STOP & GO as recited in claim 1, wherein the fuzzy controller in the fuzzy control algorithm of step two comprises the following main program steps:
(1) transferring parameters;
(2) traversing a first rule;
(3) if yes, turning to the step (5), otherwise, executing the step (4);
(4) storing the last ambiguity value;
(5) calling a calculation subprogram;
(6) judging whether all the rules are traversed or not, if so, calculating fuzzy output, otherwise, traversing the next rule, and turning to the step (3);
(7) the center of gravity method is used for anti-blurring.
5. The method for cruising at a traffic intersection STOP & GO of claim 1, wherein the data simulation in step three comprises the steps of:
(1) program initialization:
a. initializing road information: initializing road traffic light information, generating traffic lights at road non-fixed positions, and initializing the maximum speed limit of the road, wherein the maximum speed limit of the road is 30 km/h;
b. initializing vehicle information: initializing vehicle performance, setting the maximum braking capacity of the vehicle to be-10 m/s2 and the maximum acceleration to be 5m/s2, initializing the initial speed of the vehicle according to test items, and initializing the position information of the vehicle;
c. initializing traffic light information: initializing traffic light change, and setting traffic lights to perform mutual conversion among the red lights, the yellow lights and the green lights according to a certain rule and time intervals;
(2) the data simulation of the STOP & GO cruise algorithm is researched by aiming at the data simulation under various possible conditions in urban working conditions as follows:
a. the vehicle is started automatically: initializing vehicle information, wherein the distance between vehicles is the default minimum displacement deviation of 2m when the vehicles are static, starting a STOP & GO cruise system, accelerating a first vehicle in a fleet from the static state, accelerating the first vehicle to the maximum speed at a constant acceleration without encountering obstacles in the front of the first vehicle in the test process;
b. following the front low-speed vehicle: the front vehicle runs at a constant speed of 15m/s, the speed of the rear vehicle is lower than that of the front vehicle in the running process, the vehicle is provided with and starts the STOP & GO cruise control system, and the STOP & GO cruise control system can effectively and reasonably control the distance between the two vehicles according to the speed of the vehicle in the acceleration process, so that the two vehicles keep a safe running distance and avoid collision;
c. acceleration of the vehicle in front: when the states of the two vehicles are stable, the front vehicle suddenly accelerates, the rear following vehicle also carries out corresponding acceleration behaviors along with the information of the front vehicle, in the acceleration process, the STOP & GO cruise controller always monitors the distance between the two vehicles so that the distance between the two vehicles is basically kept at the safe distance, and after the speed of the front vehicle is stable, the STOP & GO cruise system also controls the vehicle to carry out final adjustment so that the speed of the vehicle is stable and the distance between the two vehicles is also stable;
d. deceleration of the vehicle in front: the motorcade initially runs at a constant speed at the maximum speed, when the states of two vehicles are stable, the front vehicle decelerates, and the STOP & GO cruise system processes vehicle test data to avoid collision of the two vehicles;
e. the parking-starting process of the front vehicle: when the speed of the vehicle is stable, the two vehicles enter a traffic light range, the STOP & GO cruise control system can control the actions of automatic starting and automatic following, the actions of the two vehicles are always kept in a safety characteristic in the control process, when the red and green light indication shows that the two vehicles are in a red light state, the vehicle fleet is decelerated until the two vehicles are static, when the red and green light signal is changed into a green light signal, the vehicles are automatically started, the rear vehicle and the front vehicle keep a safe driving distance, and the distance between the two vehicles is related to the current speed, so that when the speed is reduced, the distance between the two vehicles is gradually reduced.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620281A (en) * | 2023-07-21 | 2023-08-22 | 科大国创合肥智能汽车科技有限公司 | Adaptive cruise system ride control method, electronic equipment and storage medium |
| CN117075526A (en) * | 2023-10-13 | 2023-11-17 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
| WO2024032115A1 (en) * | 2022-08-08 | 2024-02-15 | 惠州市德赛西威汽车电子股份有限公司 | Intelligent method for following vehicle and vehicle driver assistance system using said method |
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2021
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024032115A1 (en) * | 2022-08-08 | 2024-02-15 | 惠州市德赛西威汽车电子股份有限公司 | Intelligent method for following vehicle and vehicle driver assistance system using said method |
| CN116620281A (en) * | 2023-07-21 | 2023-08-22 | 科大国创合肥智能汽车科技有限公司 | Adaptive cruise system ride control method, electronic equipment and storage medium |
| CN116620281B (en) * | 2023-07-21 | 2023-10-20 | 科大国创合肥智能汽车科技有限公司 | Adaptive cruise system ride control method, electronic equipment and storage medium |
| CN117075526A (en) * | 2023-10-13 | 2023-11-17 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
| CN117075526B (en) * | 2023-10-13 | 2024-01-26 | 江苏怀广智能交通科技有限公司 | Remote control method and device for automatic driving vehicle |
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Application publication date: 20210924 |