CN113879303A - Adaptive cruise control method and system - Google Patents
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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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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Abstract
The invention discloses a self-adaptive cruise control method and a system, wherein the method comprises the following steps: when the self-adaptive cruise function is started, acquiring a set vehicle speed set by a driver; calculating the actual speed of the automobile according to the speed of the automobile; judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value; if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is larger than a first threshold value, calculating the cruising acceleration by using the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm; and carrying out self-adaptive cruise control according to the cruise acceleration. The invention can solve the problems that the prior art can not keep stable cruising speed for a long time and can not bring stable and reliable cruising experience to customers. In addition, the method and the device can enable the ACC system experienced by the user to be more stable and reliable on the premise of not increasing the hardware cost, and have good popularization and application values.
Description
Technical Field
The invention relates to the technical field of automatic driving data processing, in particular to a self-adaptive cruise control method and a self-adaptive cruise control system.
Background
In recent years, with the rapid development of automobile intelligence, the demand of consumers for advanced intelligent driving assistance systems (ADAS) is increasing. At present, more and more vehicle models are provided with advanced intelligent driving assistance systems, wherein an Adaptive Cruise Control (ACC) system is one of important components of the ADAS, and the market assembly rate of the function reaches more than 3.
The ACC system on the intelligent automobile mainly utilizes related sensors such as a vehicle-mounted middle-distance millimeter wave radar and an intelligent camera to detect and scan information of front vehicles, pedestrians, electric vehicles and obstacles in real time to judge the safety distance, and self-adaptively adjusts the cruising speed in real time through a related control algorithm, so that the vehicles can safely and stably run on public roads. The ACC system can effectively improve the driving comfort of passengers and the passing efficiency of automobiles, and reduce the operation errors and the accident occurrence probability of drivers.
However, most ACC systems of vehicles on the market at present cannot perform stable control on cruising speed, and mainly when the vehicle is cruising according to the set speed, the actual speed and the set cruising speed always have speed difference fluctuation of +/-2 km/h, so that the stable cruising speed cannot be maintained for a long time, and the stable cruising experience cannot be brought to customers.
Disclosure of Invention
Therefore, an object of the present invention is to provide an adaptive cruise control method, so as to solve the problems that the prior art cannot maintain a stable cruise speed for a long time, and cannot bring a stable and reliable cruise experience to a client.
The invention provides a self-adaptive cruise control method, which comprises the following steps:
when the self-adaptive cruise function is started, acquiring a set vehicle speed set by a driver;
calculating the actual speed of the automobile according to the speed of the automobile;
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is larger than a first threshold value, calculating the cruising acceleration by using the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm;
and carrying out self-adaptive cruise control according to the cruise acceleration.
According to the self-adaptive cruise control method provided by the invention, the actual speed of the automobile can be accurately calculated according to the speed of the automobile, on the basis, whether the absolute value of the difference value between the set speed and the actual speed is greater than a first threshold value or not is judged, if yes, the cruise acceleration is calculated by using the difference value between the set speed and the actual speed through a PID (proportion integration differentiation) control decision algorithm, and the difference value between the set speed and the actual speed can be reduced through the PID control decision algorithm, so that the stable cruise speed is kept.
In addition, according to the adaptive cruise control method of the present invention, the following additional features may be provided:
further, in the step of calculating the cruise acceleration by using the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm, the cruise acceleration is calculated by adopting the following formula:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
Further, after the step of determining whether the absolute value of the difference between the set vehicle speed and the actual vehicle speed is greater than a first threshold, the method further includes:
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to the first threshold value, controlling the cruise acceleration to be 0, and controlling an automobile instrument to display the vehicle speed by adopting a difference filtering algorithm.
Further, the step of controlling the automobile instrument to display the automobile speed by adopting the difference filtering algorithm specifically comprises the following steps:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
Further, the method further comprises:
when the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is within a preset difference value range or the self-adaptive cruise function exits, controlling an automobile instrument to display the vehicle speed through a weighted iterative average display strategy, wherein the preset difference value range is obtained through calculation of the second threshold value;
the step of controlling the automobile instrument to display the speed of the automobile through the weighted iterative average display strategy specifically comprises the following steps of:
maintaining a first-in first-out array or a linked list, and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the meter-in vehicle speed, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1.
Another objective of the present invention is to provide an adaptive cruise control system to solve the problem that the prior art cannot maintain a stable cruise speed for a long time and cannot bring a stable and reliable cruise experience to the customer.
The invention provides an adaptive cruise control system, comprising:
the acquisition module is used for acquiring the set vehicle speed set by the driver when the adaptive cruise function is started;
the first calculation module is used for calculating the actual speed of the automobile according to the speed of the automobile;
the first judgment module is used for judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value or not;
the second calculation module is used for calculating the cruising acceleration by utilizing the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value;
and the first control module is used for carrying out self-adaptive cruise control according to the cruise acceleration.
According to the self-adaptive cruise control system provided by the invention, the actual speed of the automobile can be accurately calculated according to the speed of the automobile, on the basis, whether the absolute value of the difference value between the set speed and the actual speed is greater than a first threshold value or not is judged, if yes, the cruise acceleration is calculated by using the difference value between the set speed and the actual speed through a PID (proportion integration differentiation) control decision algorithm, and the difference value between the set speed and the actual speed can be reduced through the PID control decision algorithm, so that the stable cruise speed is kept.
In addition, the adaptive cruise control system according to the present invention may further have the following additional features:
further, the second calculation module is configured to calculate the cruise acceleration using the following equation:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
Further, the system further comprises:
and the second control module is used for controlling the cruise acceleration to be 0 and controlling an automobile instrument to display the automobile speed by adopting a difference filtering algorithm if the absolute value of the difference value between the set automobile speed and the actual automobile speed is less than or equal to the first threshold value.
Further, the second control module is specifically configured to:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
Further, the system further comprises:
the third control module is used for controlling the automobile instrument to display the automobile speed through a weighted iterative average display strategy when the absolute value of the difference value between the set automobile speed and the actual automobile speed is within a preset difference value range or the self-adaptive cruise function exits, wherein the preset difference value range is obtained through calculation of the second threshold value;
wherein the third control module is specifically configured to:
maintaining a first-in first-out array or a linked list, and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the meter-in vehicle speed, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an adaptive cruise control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram comparing the stability of the cruise control of the present invention with that of the prior art;
fig. 3 is a block diagram of an adaptive cruise control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an adaptive cruise control method according to an embodiment of the present invention includes steps S101 to S105:
and S101, acquiring the set vehicle speed set by the driver when the adaptive cruise function is started.
Wherein, under the condition of the front vehicle, a Variable Time Headway (VTH) algorithm is adopted to modulate the safe Headway; under the condition of no front vehicle, the ACC system performs constant-speed cruising according to a set vehicle speed; the ACC needs to send out the current operating state through the CAN network and the ACC system only performs cruise control in the Active mode (e.g. 0x2: Active).
The invention mainly introduces a control strategy of an ACC system under the condition of no front vehicle, sets the current vehicle speed and the set vehicle speed of a driver, and reduces the difference value of the current vehicle speed and the set vehicle speed through PID algorithm control.
And S102, calculating the actual speed of the automobile according to the wheel speed of the automobile.
In the traditional scheme, the speed displayed by an instrument is converted from the wheel speed, filtering is carried out through a down rounding strategy, in order to respond faster and reduce the steady-state cruising speed difference of an ACC, the speed is not directly displayed by the instrument, but the actual speed of the automobile is calculated according to the wheel speed of the automobile, and the actual speed is calculated by adopting the following formula:
Vf(t)＝Vabs(t0*α+β
wherein, Vf(t) actual vehicle speed, VabsAnd (t) is wheel speed, alpha and beta are respectively a coefficient and a set value, and the setting is required to be carried out according to different vehicle types, for example, for a certain vehicle type, alpha is 1.03, and beta is 2.5 km/h.
And S103, judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value.
Wherein the first threshold is, for example, 1km/h, i.e. it is determined whether | e (t) | > 1km/h is true, wherein e (t) ═ Vset-Vf(t, e (t) is the difference between the set vehicle speed and the actual vehicle speed, VsetTo set the vehicle speed, Vf(t is the actual vehicle speed.
And S104, if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value, calculating the cruising acceleration by using the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm.
If | e (t) | > 1km/h is true, the cruise acceleration is calculated by adopting the following formula:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
The controlled variable acceleration a (t) is obtained by a proportional coefficient K in PIDpIntegral coefficient KiAnd a differential coefficient KdAnd the stable cruise control is realized through closed-loop control after the three factors are calculated.
Referring to fig. 2, taking a certain vehicle model as an example, the adaptive cruise control is performed at the 10 th s, and the set vehicle speed set by the driver is 100km/h, compared with the prior art, the cruise control performed by the adaptive cruise control method of the present invention can always stabilize the cruise vehicle speed at 100km/h, no fluctuation occurs, and the stability of the cruise control can be effectively improved.
In addition, in order to ensure the comfort of cruising, the acceleration and deceleration is obviously avoided when the speed tends to be stable; and considering the problems of fine ground slope, wheel speed conversion and insufficient torque response precision of a power transmission system of the whole vehicle, when | e (t0| ≦ 1 km/h), the whole vehicle cannot respond to acceleration and deceleration, and at the moment, the cruise acceleration is controlled to be 0.
And S105, performing adaptive cruise control according to the cruise acceleration.
The ACC system can control the automobile to output corresponding torque according to the calculated cruise acceleration by matching with devices such as an ESP (electronic stability program), an ECU (electronic control unit) and the like, and self-adaptive cruise control is achieved.
In addition, as a specific example, when | e (t) | is less than or equal to 1km/h, a (t) | is 0, and at this time, the whole vehicle cannot eliminate the error, so that a cruise speed difference exists, so that an instrument is required to perform steady-state difference filtering to eliminate the cruise steady-state vehicle speed error, and therefore, in the embodiment, after the step of determining whether the absolute value of the difference between the set vehicle speed and the actual vehicle speed is greater than the first threshold value, the method further includes:
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to the first threshold value, controlling the cruise acceleration to be 0, and controlling an automobile instrument to display the vehicle speed by adopting a difference filtering algorithm.
The step of controlling the automobile instrument to display the automobile speed by adopting the difference filtering algorithm specifically comprises the following steps:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
Specifically, the second threshold value is, for example, 2km/h, and the difference filtering is performed only in the ACC _ state 0x2 Active activation mode by monitoring the working state of the ACC system, so that the cruise speed difference within ± 2km/h can be avoided.
When | e (t) | is less than or equal to 2km/h, displaying the vehicle speed VHMI(t) is a set vehicle speed VsetNamely: vHMI(t)＝Vset；
When | e (t) | > 2km/h, the vehicle speed V is displayedHMI(t) is the actual vehicle speed after rounding filtering, namely: vHMI(t)＝int(Vabs(t)*α+β)。
Further, as a specific example, the method further includes:
and when the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is within a preset difference value range or the self-adaptive cruise function exits, controlling the automobile instrument to display the vehicle speed through a weighted iterative average display strategy, wherein the preset difference value range is obtained through calculation of the second threshold value, the preset difference value range is a boundary value of the second threshold value, for example, the second threshold value is 2km/h, and the preset difference value range is 1.95-2.05 km/h. When | e (t) | is in a boundary value of 2km/h or when the ACC function exits, the situation that the vehicle speed displayed by the instrument jumps suddenly occurs, and in order to avoid the phenomenon, a weighted iterative average display strategy needs to be set, so that the display of the vehicle speed is smoother and continuous.
The step of controlling the automobile instrument to display the speed of the automobile through the weighted iterative average display strategy specifically comprises the following steps of:
maintaining an array or a linked list of first-in first-out (FIFO), and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period, wherein the first period is 10ms for example;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the vehicle speed inside the meter, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1, a is, for example, 7/8, b is, for example, 1/8, and the second period is, for example, 100 ms.
Through the difference filtering algorithm and the weighted iterative average display strategy, the speed seen by a customer can be kept consistent with the set cruise speed, and in addition, the steady-state control of the ACC cruise speed can be ensured to the maximum extent by combining with a PID control decision algorithm.
In summary, according to the adaptive cruise control method, the actual speed of the vehicle can be accurately calculated according to the speed of the vehicle, on the basis, whether the absolute value of the difference between the set speed and the actual speed is greater than a first threshold value is judged, if yes, the cruise acceleration is calculated by using the difference between the set speed and the actual speed through a PID control decision algorithm, and the difference between the set speed and the actual speed can be reduced through the PID control decision algorithm, so that the stable cruise speed is maintained.
Referring to fig. 3, an adaptive cruise control system according to an embodiment of the present invention includes:
the acquisition module is used for acquiring the set vehicle speed set by the driver when the adaptive cruise function is started;
the first calculation module is used for calculating the actual speed of the automobile according to the speed of the automobile;
the first judgment module is used for judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value or not;
the second calculation module is used for calculating the cruising acceleration by utilizing the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value;
and the first control module is used for carrying out self-adaptive cruise control according to the cruise acceleration.
In this embodiment, the second calculating module is configured to calculate the cruise acceleration by using the following formula:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
In this embodiment, the system further includes:
and the second control module is used for controlling the cruise acceleration to be 0 and controlling an automobile instrument to display the automobile speed by adopting a difference filtering algorithm if the absolute value of the difference value between the set automobile speed and the actual automobile speed is less than or equal to the first threshold value.
In this embodiment, the second control module is specifically configured to:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
In this embodiment, the system further includes:
the third control module is used for controlling the automobile instrument to display the automobile speed through a weighted iterative average display strategy when the absolute value of the difference value between the set automobile speed and the actual automobile speed is within a preset difference value range or the self-adaptive cruise function exits, wherein the preset difference value range is obtained through calculation of the second threshold value;
wherein the third control module is specifically configured to:
maintaining a first-in first-out array or a linked list, and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the meter-in vehicle speed, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1.
According to the adaptive cruise control system provided by the embodiment, the actual speed of the automobile can be accurately calculated according to the speed of the automobile, on the basis, whether the absolute value of the difference value between the set speed and the actual speed is larger than a first threshold value or not is judged, if yes, the cruise acceleration is calculated by using the difference value between the set speed and the actual speed through a PID (proportion integration differentiation) control decision algorithm, and the difference value between the set speed and the actual speed can be reduced through the PID control decision algorithm, so that the stable cruise speed is kept.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An adaptive cruise control method, comprising:
when the self-adaptive cruise function is started, acquiring a set vehicle speed set by a driver;
calculating the actual speed of the automobile according to the speed of the automobile;
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is larger than a first threshold value, calculating the cruising acceleration by using the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm;
and carrying out self-adaptive cruise control according to the cruise acceleration.
2. The adaptive cruise control method according to claim 1, wherein in the step of calculating the cruise acceleration by a PID control decision algorithm using the difference between the set vehicle speed and the actual vehicle speed, the cruise acceleration is calculated using the following equation:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
3. The adaptive cruise control method according to claim 1, wherein after the step of determining whether the absolute value of the difference between the set vehicle speed and the actual vehicle speed is greater than a first threshold value, the method further comprises:
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to the first threshold value, controlling the cruise acceleration to be 0, and controlling an automobile instrument to display the vehicle speed by adopting a difference filtering algorithm.
4. The adaptive cruise control method according to claim 3, characterized in that the step of controlling the motormeter to display the speed of the vehicle using a difference filtering algorithm specifically comprises:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
5. The adaptive cruise control method according to claim 4, characterized in that said method further comprises:
when the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is within a preset difference value range or the self-adaptive cruise function exits, controlling an automobile instrument to display the vehicle speed through a weighted iterative average display strategy, wherein the preset difference value range is obtained through calculation of the second threshold value;
the step of controlling the automobile instrument to display the speed of the automobile through the weighted iterative average display strategy specifically comprises the following steps of:
maintaining a first-in first-out array or a linked list, and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the meter-in vehicle speed, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1.
6. An adaptive cruise control system, comprising:
the acquisition module is used for acquiring the set vehicle speed set by the driver when the adaptive cruise function is started;
the first calculation module is used for calculating the actual speed of the automobile according to the speed of the automobile;
the first judgment module is used for judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value or not;
the second calculation module is used for calculating the cruising acceleration by utilizing the difference value between the set vehicle speed and the actual vehicle speed through a PID control decision algorithm if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a first threshold value;
and the first control module is used for carrying out self-adaptive cruise control according to the cruise acceleration.
7. The adaptive cruise control system according to claim 6, wherein said second calculation module is configured to calculate said cruise acceleration using the following equation:
wherein a (t) is the cruising acceleration, t is time, KpFor the proportional coefficient, K, in the PID control decision algorithmiIs an integral coefficient, K, in a PID control decision algorithmdIs a differential coefficient in a PID control decision algorithm, e (t) is the difference value of the set vehicle speed and the actual vehicle speed,
is the differential of e (t).
8. The adaptive cruise control system according to claim 6, said system further comprising:
and the second control module is used for controlling the cruise acceleration to be 0 and controlling an automobile instrument to display the automobile speed by adopting a difference filtering algorithm if the absolute value of the difference value between the set automobile speed and the actual automobile speed is less than or equal to the first threshold value.
9. The adaptive cruise control system according to claim 8, wherein said second control module is specifically configured to:
judging whether the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is smaller than or equal to a second threshold value, wherein the second threshold value is larger than the first threshold value;
if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is less than or equal to a second threshold value, controlling the display vehicle speed of the automobile instrument to be the set vehicle speed;
and if the absolute value of the difference value between the set vehicle speed and the actual vehicle speed is greater than a second threshold value, controlling the display vehicle speed of the automobile instrument to be the actual vehicle speed after the rounding filtering.
10. The adaptive cruise control method according to claim 9, said system further comprising:
the third control module is used for controlling the automobile instrument to display the automobile speed through a weighted iterative average display strategy when the absolute value of the difference value between the set automobile speed and the actual automobile speed is within a preset difference value range or the self-adaptive cruise function exits, wherein the preset difference value range is obtained through calculation of the second threshold value;
wherein the third control module is specifically configured to:
maintaining a first-in first-out array or a linked list, and iteratively calculating and storing the vehicle speed Sn inside the instrument in a first period;
continuously calling the internal vehicle speed Sn of the instrument in a second period, updating and displaying the internal vehicle speed Sn of the instrument on the automobile instrument, wherein the second period is greater than the first period, and the internal vehicle speed Sn of the instrument is calculated by the following formula:
Sn＝Sin(n-1)*a+Sin(n)*b
n≥2
where Sn is the meter-in vehicle speed, Sin (n-1) is the actual vehicle speed at the previous time, Sin (n) is the actual vehicle speed at the current time, n represents the time, a and b are proportionality coefficients, and a + b is 1.
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