CN116443002A - Vehicle adaptive cruise control method, system, computer and readable storage medium - Google Patents
Vehicle adaptive cruise control method, system, computer and readable storage medium Download PDFInfo
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 34
- 238000004364 calculation method Methods 0.000 claims description 17
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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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle self-adaptive cruise control method, a system, a computer and a readable storage medium, wherein the method comprises the following steps: the method comprises the steps of acquiring the actual distance between a current vehicle and a front vehicle, and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user; calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed; inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller; the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration. Through the mode, the phenomenon that the distance between the vehicle and the vehicle is overlarge or the vehicle collides with the front vehicle can be avoided, and then the potential safety hazard is eliminated.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to a vehicle self-adaptive cruise control method, a system, a computer and a readable storage medium.
Background
In recent years, with the continuous evolution perfection of related technologies (chips, sensors, algorithms and communication) in the automobile industry, the requirements of users on driving comfort and safety are continuously improved, and the requirements of traditional factories and internet enterprises on market expansion are continuously improved, so that intelligent driving is in a state of longitudinal expansion and transverse penetration development, and the popularity of an L2/L3 advanced auxiliary driving system is higher and higher, and meanwhile, L4/L5 automatic driving is also mature and falls to the ground gradually.
The transverse and longitudinal control of the vehicle is the basis and guarantee of driving comfort and safety realization, whether an advanced auxiliary driving system or automatic driving. Common lateral functions are lane departure warning systems, lane keeping systems, etc.; common longitudinal functions are adaptive cruise control (afc), automatic Emergency Braking (AEB), etc.
The self-adaptive cruise control strategy in the prior art mostly adopts a double PID (Proportion Integral Differential) control strategy or a quadratic optimal control strategy and the like, however, the existing double PID control strategy and quadratic optimal control strategy are not suitable for the full-speed section of the vehicle, and particularly when the vehicle is in a low-speed working condition, the vehicle cannot follow the front vehicle in time, so that the distance between the two vehicles is overlarge, or the vehicle cannot be effectively braked due to the emergency braking of the front vehicle, an automatic emergency braking system is triggered or the vehicle collides with the front vehicle, and a certain potential safety hazard exists.
Disclosure of Invention
Based on this, the invention aims to provide a vehicle self-adaptive cruise control method, a system, a computer and a readable storage medium, so as to solve the problems that in the prior art, a double PID control strategy and a quadratic optimal control strategy are not suitable for a full-speed section of a vehicle, particularly when the vehicle is in a low-speed working condition, the vehicle cannot follow a front vehicle in time, so that the distance between the two vehicles is too large, or the vehicle cannot be effectively braked due to the sudden braking of the front vehicle, so that an automatic emergency braking system is triggered or the vehicle collides with the front vehicle.
An embodiment of the present invention provides a vehicle adaptive cruise control method, including:
receiving the actual distance between the current vehicle and the front vehicle acquired by the radar, and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user;
calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed;
inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
And adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration.
The beneficial effects of the invention are as follows: the method comprises the steps of receiving the actual distance between a current vehicle and a front vehicle acquired by a radar, and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user; further, calculating an expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed; further, inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller; finally, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration. Through the mode, the vehicle following response speed of the vehicle can be timely adjusted, and meanwhile, the automobile following response speed adjusting device can be suitable for a complete speed section of the vehicle, so that the phenomenon that the vehicle following distance is overlarge or the automobile is collided with a front automobile can be avoided, potential safety hazards are eliminated, meanwhile, the automobile calculation force requirement is low, and the automobile following response speed adjusting device is suitable for popularization and use on a large scale.
Preferably, the step of calculating the expected distance corresponding to the current vehicle based on a preset algorithm includes:
acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe distance into the preset algorithm to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm, wherein the expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Representing the actual speed, K represents the adjustment coefficient.
Preferably, the step of adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration includes:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
If the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
if the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
Preferably, the method further comprises:
when the target acceleration or the target deceleration is obtained, judging whether the value corresponding to the target acceleration or the target deceleration is within a second preset threshold value in real time;
and if the value corresponding to the target acceleration or the target deceleration is judged to be within the second preset threshold in real time, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration in real time.
Preferably, after the step of adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration, the method further includes:
Acquiring an adjusted target cruising speed, and judging whether the difference between the target cruising speed and the initial cruising speed is larger than a third preset threshold value;
and if the difference between the target cruising speed and the initial cruising speed is larger than the third preset threshold, sending prompt information to a driver in the current vehicle so that the driver takes over the current vehicle in time, wherein the prompt information comprises an acoustic prompt and a vibration prompt.
A second aspect of an embodiment of the present invention proposes a vehicle adaptive cruise control system, the system comprising:
the acquisition module is used for receiving the actual distance between the current vehicle and the front vehicle acquired by the radar and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user;
the first calculation module is used for calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed;
the second calculation module is used for inputting the first difference value into a first preset PID controller and inputting the second difference value into a second preset PID controller so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
And the adjusting module is used for adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration.
In the above vehicle adaptive cruise control system, the first calculation module is specifically configured to:
acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe distance into the preset algorithm to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm, wherein the expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Representing the actual speed, K represents the adjustment coefficient.
In the above vehicle adaptive cruise control system, the adjustment module is specifically configured to:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
If the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
if the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
In the above vehicle adaptive cruise control system, the vehicle adaptive cruise control system further includes a judgment module, where the judgment module is specifically configured to:
when the target acceleration or the target deceleration is obtained, judging whether the value corresponding to the target acceleration or the target deceleration is within a second preset threshold value in real time;
and if the value corresponding to the target acceleration or the target deceleration is judged to be within the second preset threshold in real time, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration in real time.
Among them, in the above-mentioned vehicle self-adaptation cruise control system, vehicle self-adaptation cruise control system still includes the suggestion module, the suggestion module is specifically used for:
acquiring an adjusted target cruising speed, and judging whether the difference between the target cruising speed and the initial cruising speed is larger than a third preset threshold value;
and if the difference between the target cruising speed and the initial cruising speed is larger than the third preset threshold, sending prompt information to a driver in the current vehicle so that the driver takes over the current vehicle in time, wherein the prompt information comprises an acoustic prompt and a vibration prompt.
A third aspect of the embodiments of the present invention proposes a computer comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said processor implementing a vehicle adaptive cruise control method as described above when executing said computer program.
A fourth aspect of the embodiments of the present invention proposes a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle adaptive cruise control method as described above.
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.
Drawings
FIG. 1 is a flow chart of a vehicle adaptive cruise control method according to a first embodiment of the present invention;
fig. 2 is a block diagram of a vehicle adaptive cruise control system according to a sixth embodiment of the present invention.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The self-adaptive cruise control strategy in the prior art mostly adopts a double PID (Proportion Integral Differential) control strategy or a quadratic optimal control strategy and the like, however, the existing double PID control strategy and quadratic optimal control strategy are not suitable for the full-speed section of the vehicle, and particularly when the vehicle is in a low-speed working condition, the vehicle cannot follow the front vehicle in time, so that the distance between the two vehicles is overlarge, or the vehicle cannot be effectively braked due to the emergency braking of the front vehicle, an automatic emergency braking system is triggered or the vehicle collides with the front vehicle, and a certain potential safety hazard exists.
Referring to fig. 1, a vehicle adaptive cruise control method according to a first embodiment of the present invention is shown, where the vehicle adaptive cruise control method according to the present embodiment can timely adjust a following response speed of a vehicle, and is applicable to a complete speed section of the vehicle, so as to avoid a phenomenon that a following distance is too large or a collision occurs with a preceding vehicle, further eliminate potential safety hazards, and simultaneously has a low requirement on calculation force of the vehicle, and is applicable to popularization and use in a large range.
Specifically, the vehicle adaptive cruise control method provided in the embodiment specifically includes the following steps:
step S10, receiving the actual distance between the current vehicle and the front vehicle acquired by a radar, and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user;
specifically, in the present embodiment, it should be first described that, the vehicle adaptive cruise control method provided in the present embodiment is specifically applied to a vehicle type in which an adaptive cruise control system is installed, and is used to accurately control a vehicle speed of a vehicle in an adaptive cruise process, so as to correspondingly improve a driving experience of a driver.
Therefore, in this step, it should be noted that, in this step, the actual distance between the current vehicle and the preceding vehicle is first acquired in real time by the radar provided in front of the current vehicle, and at the same time, the actual speed of the current vehicle and the initial cruising speed preset by the user are synchronously acquired.
Step S20, calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed;
Further, in this embodiment, it should be noted that, after the required actual speed of the current vehicle and the initial cruising speed preset by the user are obtained through the above steps, the step further calculates the expected distance required by the current vehicle according to the preset algorithm, where the expected distance is the safe following distance between the current vehicle and the vehicle ahead.
Further, the present step calculates a first difference between the current expected distance and the actual distance that has been acquired, and simultaneously calculates a second difference between the actual speed of the current vehicle and the initial cruise speed that is set in advance.
Step S30, inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
furthermore, in this embodiment, it should be noted that, after the required first difference value and the required second difference value are obtained through the steps above, the step further inputs the current first difference value into the first preset PID controller, and correspondingly inputs the current second difference value into the second preset PID controller, so that the target acceleration or the target deceleration of the current vehicle can be calculated through the current first preset PID controller and the second preset PID controller in real time. It should be noted that, the first PID controller and the second PID controller provided in this embodiment are connected in parallel inside the vehicle body.
And step S40, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration.
Finally, in this embodiment, it should be noted that, after the required target acceleration or target deceleration is calculated through the above steps, the present step can correspondingly adjust the initial cruising speed of the current vehicle according to the calculated target acceleration or target deceleration in real time, that is, correspondingly increase the current initial cruising speed or decrease the current initial cruising speed.
When the vehicle cruise control system is used, the actual distance between the current vehicle and the front vehicle acquired by the radar is received, and the actual speed of the current vehicle and the initial cruise speed set by a user are acquired; further, calculating an expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed; further, inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller; finally, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration. Through the mode, the vehicle following response speed of the vehicle can be timely adjusted, and meanwhile, the automobile following response speed adjusting device can be suitable for a complete speed section of the vehicle, so that the phenomenon that the vehicle following distance is overlarge or the automobile is collided with a front automobile can be avoided, potential safety hazards are eliminated, meanwhile, the automobile calculation force requirement is low, and the automobile following response speed adjusting device is suitable for popularization and use on a large scale.
It should be noted that the foregoing implementation procedure is only for illustrating the feasibility of the present application, but this does not represent that the vehicle adaptive cruise control method of the present application has only one implementation procedure, and instead, the vehicle adaptive cruise control method of the present application may be incorporated into the feasible embodiment of the present application as long as it can be implemented.
In summary, the vehicle adaptive cruise control method provided by the embodiment of the invention can timely adjust the following response speed of the vehicle, and is applicable to the complete speed section of the vehicle, so that the phenomenon that the following distance is too large or collision with the front vehicle occurs can be avoided, potential safety hazards are eliminated, and meanwhile, the requirement on the calculation force of the vehicle is low, so that the vehicle adaptive cruise control method is applicable to wide popularization and use.
The second embodiment of the present invention also provides a vehicle adaptive cruise control method, which is different from the vehicle adaptive cruise control method provided in the first embodiment in that:
specifically, in this embodiment, it should be noted that the step of calculating the expected distance corresponding to the current vehicle based on the preset algorithm includes:
Acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
and simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe vehicle distance into the preset algorithm, so as to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm.
Specifically, in this embodiment, it should be noted that, in order to accurately calculate the expected distance between the current vehicle and the front vehicle, the present embodiment needs to further acquire the front vehicle speed of the front vehicle in real time through the radar, and simultaneously acquire the minimum safe vehicle distance corresponding to the actual speed of the current vehicle in the preset database, so as to finally acquire all the elements for calculating the expected distance.
Further, the embodiment can immediately input the actual speed of the current vehicle, the front vehicle speed of the front vehicle, the actual distance between the current vehicle and the front vehicle and the minimum safe vehicle distance corresponding to the current vehicle into the preset algorithm at the same time, so that the expected distance between the current vehicle and the front vehicle can be finally calculated in real time through the preset algorithm.
The expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Which is indicative of the actual speed of the vehicle,k represents the adjustment coefficient.
It should be noted that, for the sake of brevity, the method according to the second embodiment of the present invention, which implements the same principle and some of the technical effects as the first embodiment, is not mentioned here, and reference is made to the corresponding content provided by the first embodiment.
In summary, the vehicle adaptive cruise control method provided by the embodiment of the invention can timely adjust the following response speed of the vehicle, and is applicable to the complete speed section of the vehicle, so that the phenomenon that the following distance is too large or collision with the front vehicle occurs can be avoided, potential safety hazards are eliminated, and meanwhile, the requirement on the calculation force of the vehicle is low, so that the vehicle adaptive cruise control method is applicable to wide popularization and use.
The third embodiment of the present invention also provides a vehicle adaptive cruise control method, which is different from the vehicle adaptive cruise control method provided in the first embodiment in that:
Further, in the present embodiment, it should be noted that the step of adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration includes:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
if the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
if the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
Specifically, in this embodiment, in order to accurately adjust the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration calculated in real time, the present embodiment further calculates the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle, and simultaneously determines in real time whether the front vehicle deceleration corresponding to the front vehicle is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0.
Specifically, if the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, further judging whether the real-time calculated target deceleration is smaller than a first preset threshold value, and if the real-time judgment is that the front vehicle deceleration is larger than 0 or the front vehicle speed of the front vehicle is not equal to 0, directly judging that the calculated target acceleration or the value corresponding to the target deceleration is 0.
Further, if the present embodiment further determines that the calculated target deceleration in real time is smaller than the first preset threshold, for example, smaller than-1 m/s 2 The present embodiment further adjusts the initial cruising speed of the current vehicle according to the target deceleration calculated in real time, and correspondingly, if the present embodiment further determines that the target deceleration calculated in real time is greater than the first preset threshold, it directly determines that the value corresponding to the target acceleration or the target deceleration calculated in real time is 0.
It should be noted that, for the sake of brevity, the principles and some technical effects of the method according to the third embodiment of the present invention are the same as those of the first embodiment, and reference should be made to the corresponding matters provided in the first embodiment for the description of the present invention.
In summary, the vehicle adaptive cruise control method provided by the embodiment of the invention can timely adjust the following response speed of the vehicle, and is applicable to the complete speed section of the vehicle, so that the phenomenon that the following distance is too large or collision with the front vehicle occurs can be avoided, potential safety hazards are eliminated, and meanwhile, the requirement on the calculation force of the vehicle is low, so that the vehicle adaptive cruise control method is applicable to wide popularization and use.
The fourth embodiment of the present invention also provides a vehicle adaptive cruise control method, which is different from the vehicle adaptive cruise control method provided in the first embodiment in that:
specifically, in this embodiment, it should also be noted that, the method further includes:
when the target acceleration or the target deceleration is obtained, judging whether the value corresponding to the target acceleration or the target deceleration is within a second preset threshold value in real time;
and if the value corresponding to the target acceleration or the target deceleration is judged to be within the second preset threshold in real time, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration in real time.
Further, in this embodiment, it should be noted that, in order to further accurately control the initial cruising speed of the current vehicle, when the current vehicle obtains the required target acceleration or target deceleration in real time, this embodiment further determines whether the value corresponding to the current target acceleration or target deceleration is within the second preset threshold in real time, and preferably, the second preset threshold is +2/s 2 —-4m/s 2 。
Specifically, if the embodiment determines in real time that the value corresponding to the current target acceleration or the target deceleration is within the current second preset threshold, the embodiment immediately adjusts the initial cruising speed of the current vehicle according to the current target acceleration or the target deceleration, and correspondingly, if the embodiment determines in real time that the value corresponding to the current target acceleration or the target deceleration is not within the current second preset threshold, the embodiment limits the output value of the current target acceleration or the target deceleration, and further adjusts the initial cruising speed of the current vehicle according to the limited value.
It should be noted that, for the sake of brevity, the method according to the fourth embodiment of the present invention, which implements the same principle and some of the technical effects as those of the first embodiment, may refer to the corresponding content provided by the first embodiment.
In summary, the vehicle adaptive cruise control method provided by the embodiment of the invention can timely adjust the following response speed of the vehicle, and is applicable to the complete speed section of the vehicle, so that the phenomenon that the following distance is too large or collision with the front vehicle occurs can be avoided, potential safety hazards are eliminated, and meanwhile, the requirement on the calculation force of the vehicle is low, so that the vehicle adaptive cruise control method is applicable to wide popularization and use.
The fifth embodiment of the present invention also provides a vehicle adaptive cruise control method, which is different from the vehicle adaptive cruise control method provided in the first embodiment in that:
in addition, in this embodiment, it should be noted that, after the step of adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration, the method further includes:
acquiring an adjusted target cruising speed, and judging whether the difference between the target cruising speed and the initial cruising speed is larger than a third preset threshold value;
and if the difference between the target cruising speed and the initial cruising speed is larger than the third preset threshold, sending prompt information to a driver in the current vehicle so that the driver takes over the current vehicle in time, wherein the prompt information comprises an acoustic prompt and a vibration prompt.
Specifically, in this embodiment, it should also be noted that, in order to effectively prevent accidents, the embodiment may further obtain the adjusted target cruising speed, and further determine in real time whether the difference between the current target cruising speed and the current initial cruising speed is greater than a third preset threshold, and preferably, in this embodiment, the third preset threshold is 20km/h.
Specifically, if the difference between the current target cruising speed and the initial cruising speed is determined to be greater than the third preset threshold in real time, the present embodiment may immediately send prompt information to a driver in the current vehicle, so that the current driver can take over the current vehicle in time, and further accidents can be effectively prevented. Specifically, the prompt information provided in this embodiment includes a sound prompt and a vibration prompt.
It should be noted that, for the sake of brevity, the method according to the fifth embodiment of the present invention, which implements the same principle and some of the technical effects as those of the first embodiment, may refer to the corresponding content provided by the first embodiment.
In summary, the vehicle adaptive cruise control method provided by the embodiment of the invention can timely adjust the following response speed of the vehicle, and is applicable to the complete speed section of the vehicle, so that the phenomenon that the following distance is too large or collision with the front vehicle occurs can be avoided, potential safety hazards are eliminated, and meanwhile, the requirement on the calculation force of the vehicle is low, so that the vehicle adaptive cruise control method is applicable to wide popularization and use.
Referring to fig. 2, a vehicle adaptive cruise control system according to a sixth embodiment of the present invention is shown, the system including:
an obtaining module 12, configured to receive an actual distance between a current vehicle and a vehicle ahead acquired by a radar, and obtain an actual speed of the current vehicle and an initial cruising speed set by a user;
a first calculation module 22, configured to calculate an expected distance corresponding to the current vehicle based on a preset algorithm, and calculate a first difference between the expected distance and the actual distance, and a second difference between the actual speed and the initial cruising speed;
a second calculation module 32, configured to input the first difference value into a first preset PID controller, and input the second difference value into a second preset PID controller, so as to calculate a target acceleration or a target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
an adjustment module 42 for adjusting an initial cruise speed of the current vehicle based on the target acceleration or the target deceleration.
In the above vehicle adaptive cruise control system, the first calculation module 22 is specifically configured to:
Acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe distance into the preset algorithm to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm, wherein the expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Representing the actual speed, K represents the adjustment coefficient.
In the above-mentioned vehicle adaptive cruise control system, the adjustment module 42 is specifically configured to:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
if the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
If the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
In the above vehicle adaptive cruise control system, the vehicle adaptive cruise control system further includes a judgment module 52, where the judgment module 52 is specifically configured to:
when the target acceleration or the target deceleration is obtained, judging whether the value corresponding to the target acceleration or the target deceleration is within a second preset threshold value in real time;
and if the value corresponding to the target acceleration or the target deceleration is judged to be within the second preset threshold in real time, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration in real time.
In the above vehicle adaptive cruise control system, the vehicle adaptive cruise control system further includes a prompt module 62, where the prompt module 62 is specifically configured to:
Acquiring an adjusted target cruising speed, and judging whether the difference between the target cruising speed and the initial cruising speed is larger than a third preset threshold value;
and if the difference between the target cruising speed and the initial cruising speed is larger than the third preset threshold, sending prompt information to a driver in the current vehicle so that the driver takes over the current vehicle in time, wherein the prompt information comprises an acoustic prompt and a vibration prompt.
A seventh embodiment of the present invention provides a computer including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the vehicle adaptive cruise control method provided in the above embodiment when executing the computer program.
An eighth embodiment of the present invention provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle adaptive cruise control method provided by the above embodiment.
In summary, the vehicle adaptive cruise control method, system, computer and readable storage medium provided by the embodiments of the present invention can timely adjust the following response speed of the vehicle, and can be applied to the complete speed section of the vehicle, so as to avoid the phenomenon that the following distance is too large or collision occurs with the front vehicle, further eliminate the potential safety hazard, and simultaneously have lower requirement on the calculation force of the vehicle, and are suitable for large-scale popularization and use.
The above-described respective modules may be functional modules or program modules, and may be implemented by software or hardware. For modules implemented in hardware, the various modules described above may be located in the same processor; or the above modules may be located in different processors in any combination.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. A method of vehicle adaptive cruise control, the method comprising:
Receiving the actual distance between the current vehicle and the front vehicle acquired by the radar, and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user;
calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed;
inputting the first difference value into a first preset PID controller, and inputting the second difference value into a second preset PID controller, so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
and adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration.
2. The vehicle adaptive cruise control method according to claim 1, characterized in that: the step of calculating the expected distance corresponding to the current vehicle based on a preset algorithm comprises the following steps:
acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
Simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe distance into the preset algorithm to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm, wherein the expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Representing the actual speed, K represents the adjustment coefficient.
3. The vehicle adaptive cruise control method according to claim 2, characterized in that: the step of adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration includes:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
if the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
If the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
4. A vehicle adaptive cruise control method according to claim 3, characterized in that: the method further comprises the steps of:
when the target acceleration or the target deceleration is obtained, judging whether the value corresponding to the target acceleration or the target deceleration is within a second preset threshold value in real time;
and if the value corresponding to the target acceleration or the target deceleration is judged to be within the second preset threshold in real time, adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration in real time.
5. The vehicle adaptive cruise control method according to claim 1, characterized in that: after the step of adjusting the initial cruising speed of the current vehicle in accordance with the target acceleration or the target deceleration, the method further includes:
Acquiring an adjusted target cruising speed, and judging whether the difference between the target cruising speed and the initial cruising speed is larger than a third preset threshold value;
and if the difference between the target cruising speed and the initial cruising speed is larger than the third preset threshold, sending prompt information to a driver in the current vehicle so that the driver takes over the current vehicle in time, wherein the prompt information comprises an acoustic prompt and a vibration prompt.
6. A vehicle adaptive cruise control system, the system comprising:
the acquisition module is used for receiving the actual distance between the current vehicle and the front vehicle acquired by the radar and acquiring the actual speed of the current vehicle and the initial cruising speed set by a user;
the first calculation module is used for calculating the expected distance corresponding to the current vehicle based on a preset algorithm, and calculating a first difference value between the expected distance and the actual distance and a second difference value between the actual speed and the initial cruising speed;
the second calculation module is used for inputting the first difference value into a first preset PID controller and inputting the second difference value into a second preset PID controller so as to calculate the target acceleration or the target deceleration of the current vehicle through the first preset PID controller and the second preset PID controller;
And the adjusting module is used for adjusting the initial cruising speed of the current vehicle according to the target acceleration or the target deceleration.
7. The vehicle adaptive cruise control system according to claim 6, characterized in that: the first computing module is specifically configured to:
acquiring the front vehicle speed of the front vehicle in real time through the radar, and acquiring the minimum safe vehicle distance corresponding to the actual speed of the current vehicle;
simultaneously inputting the actual speed, the front vehicle speed, the actual distance and the minimum safe distance into the preset algorithm to calculate the expected distance between the current vehicle and the front vehicle in real time through the preset algorithm, wherein the expression of the preset algorithm is as follows:
d safe ＝T h *V s -K*(V f -V s )+d base
wherein d safe Representing the expected distance, T h Representing the actual distance, V f Represents the speed of the front vehicle, d base Representing the minimum safe distance, V s Representing the actual speed, K represents the adjustment coefficient.
8. The vehicle adaptive cruise control system according to claim 7, characterized in that: the adjusting module is specifically used for:
calculating the front vehicle deceleration corresponding to the front vehicle according to the front vehicle speed of the front vehicle in real time, and judging whether the front vehicle deceleration is smaller than 0 or whether the front vehicle speed of the front vehicle is equal to 0 in real time;
If the real-time judgment is that the front vehicle deceleration is smaller than 0 or the front vehicle speed of the front vehicle is equal to 0, judging whether the target deceleration is smaller than a first preset threshold value or not;
if the target deceleration is judged to be smaller than the first preset threshold value, the initial cruising speed of the current vehicle is adjusted according to the target acceleration or the target deceleration calculated in real time;
and if the target deceleration is judged to be larger than the first preset threshold value, the calculated value corresponding to the target acceleration or the target deceleration is 0.
9. A computer comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle adaptive cruise control method according to any one of claims 1 to 5 when executing the computer program.
10. A readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle adaptive cruise control method according to any one of claims 1 to 5.
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