WO2021093341A1 - Speed following control method and system for adaptive cruise control system - Google Patents

Speed following control method and system for adaptive cruise control system Download PDF

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Publication number
WO2021093341A1
WO2021093341A1 PCT/CN2020/099824 CN2020099824W WO2021093341A1 WO 2021093341 A1 WO2021093341 A1 WO 2021093341A1 CN 2020099824 W CN2020099824 W CN 2020099824W WO 2021093341 A1 WO2021093341 A1 WO 2021093341A1
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speed
vehicle
target
target vehicle
acceleration
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PCT/CN2020/099824
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French (fr)
Chinese (zh)
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管杰
殷政
倪洪飞
万四禧
夏然飞
张晗
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东风商用车有限公司
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Definitions

  • the invention relates to the technical field of automatic driving, in particular to a speed following control method and system of an adaptive cruise system.
  • Adaptive Cruise Control is an automobile function that allows the vehicle's cruise control system to adjust its speed to adapt to traffic conditions. It is mainly used to improve driving safety. The control technology of the adaptive cruise control system is getting more and more attention.
  • the adaptive cruise control system mainly detects whether there is a vehicle on the road ahead of the vehicle. When a vehicle is present, it actively decelerates to control the reasonable distance between the vehicle and the vehicle in front. When there is no vehicle in front, Drive at the speed set by the driver.
  • the ACC adaptive cruise algorithm When following a car or when a vehicle target appears ahead, the ACC adaptive cruise algorithm is used, and the calculation method is as follows:
  • a x,acc K ACC (K dx *(dx-dxsesired)+K dv *dv)
  • the acceleration is converted into the driving torque of the vehicle through the vehicle driving equation.
  • the motor request torque is output under the limitation of the maximum torque peak value of the motor and the slope of the motor torque change.
  • the motor When the acceleration is greater than the upper limit, the motor outputs a positive torque for drive control. When the acceleration is less than the upper limit and greater than the lower limit, the motor outputs a negative torque for braking. When the acceleration is less than the lower limit, the entire vehicle is used for basic braking.
  • the above-mentioned existing adaptive cruise control method has certain limitations when switching between cruise mode and car-following mode, that is, when the front changes from car to car or car without car to car.
  • the main manifestations are as follows: When switching between the following and no-car states, the target acceleration and target speed will suddenly change. The car will suddenly slow down, which will interfere with the normal running vehicles around and easily cause traffic accidents. Secondly, the sudden deceleration of the car will cause the driver to produce Discomfort.
  • the purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a speed following control method and system for an adaptive cruise system.
  • the present invention provides a speed following control method of an adaptive cruise system, which includes the following steps:
  • the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target acceleration;
  • the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated.
  • the target acceleration is compensated based on the difference between the current vehicle speed and the second target vehicle speed, and the vehicle driving force required by the vehicle is calculated, it also includes:
  • the driving force of the vehicle required by the vehicle is greater than the set upper limit, the driving force of the vehicle is converted into the engine torque request through the transmission system and sent to the drive system;
  • the sum of the target acceleration and the compensation acceleration is sent to the electric control system;
  • the real-time calculation of the following target vehicle speed based on the distance and speed of the vehicle and the target vehicle ahead further includes:
  • the target vehicle speed of the following vehicle is the same as the speed of the target vehicle ahead;
  • the following target vehicle speed is the set cruising speed.
  • Preferred solution Calculate the target vehicle speed for following the vehicle based on the current distance and speed of the vehicle and the target vehicle ahead, including:
  • V acc K 1 * ⁇ SK 2 * ⁇ V+V obj to calculate the target vehicle speed following the car
  • V acc is the target vehicle speed following the car
  • K 1 and K 2 are respectively the distance proportional coefficient and the speed proportional coefficient
  • ⁇ S is the relative distance between the vehicle and the target vehicle
  • ⁇ V is the relative speed of the vehicle and the target vehicle
  • V obj is the absolute speed of the target vehicle.
  • the setting of the smaller of the following target vehicle speed and the set cruising speed as the first target vehicle speed includes:
  • V tar is the first target vehicle speed
  • V acc is the target vehicle speed following the car
  • V cc is the cruising speed set by the driver.
  • said compensating the target acceleration according to the difference between the current vehicle speed and the second target vehicle speed includes:
  • the target acceleration is compensated through PID feedback control, using the formula:
  • a cal K p ⁇ v k +k i ⁇ v k +k d ( ⁇ v k - ⁇ v k-1 ) to calculate the compensation acceleration
  • a cal is the compensation acceleration
  • k p , k i , and k d are the proportional coefficient, the integral coefficient and the differential coefficient, respectively;
  • ⁇ v k and ⁇ v k-1 are the speed deviation of the current sampling point and the speed deviation of the previous sampling point, respectively.
  • the driving force of the whole vehicle for calculating the demand of the vehicle includes:
  • F is the driving force of the vehicle
  • a tar is the target acceleration
  • a cal is the compensation acceleration
  • F f , F w , and F i are rolling resistance, air resistance and ramp resistance, respectively;
  • ⁇ and m are respectively the conversion factor of moment of inertia and the total mass of the vehicle.
  • the length of the time period is: 10ms-100ms
  • the following target vehicle speed is calculated every 10ms-100ms according to the current distance and vehicle speed of the vehicle and the target vehicle ahead.
  • Another aspect of the present invention provides a speed following control system of an adaptive cruise system, including:
  • Adaptive cruise system controller which is used to set the length of the time period; calculate the following target vehicle speed according to the current distance and speed of the vehicle and the target vehicle ahead; compare the following target vehicle speed to the set cruise speed, whichever is smaller As the first target vehicle speed; the acceleration limit is obtained according to the maximum acceleration/deceleration threshold value and the acceleration change slope; according to the first target vehicle speed and the acceleration limit, the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target Acceleration; according to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated;
  • the forward millimeter wave radar is used to monitor target vehicle information, the target vehicle information includes the distance of the target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected to the adaptive cruise system controller through the CAN bus.
  • Preferred plan also includes:
  • the HMI panel is used to display the own vehicle information, the own vehicle information includes the distance of the target vehicle and the own vehicle speed, the HMI panel is connected with the adaptive cruise system controller through the CAN bus;
  • Vehicle controller which is used for any of driving torque control, optimal control of braking energy, vehicle energy management, CAN network maintenance and management, fault diagnosis and processing, and vehicle status monitoring Or more, the vehicle controller is connected with the adaptive cruise system controller through the CAN bus.
  • a speed following control method and system for an adaptive cruise system of the present invention calculates the following vehicle based on the target vehicle information and the vehicle information of the vehicle For the target vehicle speed, the first target vehicle speed is obtained after calculating the smaller of the following target vehicle speed and the set cruising speed.
  • the first target vehicle speed is limited by the acceleration limit to output the second target vehicle speed and target acceleration to ensure that the target acceleration and the second target vehicle speed change smoothly without sudden changes when the vehicle is switching between the following and no-car states.
  • Figure 1 is a flow chart of the method of the first embodiment of the present invention
  • Figure 2 is a method control block diagram of an embodiment of the present invention
  • Figure 3 is a flow chart of the method of the second embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the system structure of an embodiment of the present invention.
  • an embodiment of the present invention provides a speed following control method for an adaptive cruise system, which includes the following steps:
  • Step 101 Set the length of the time period.
  • the length of the time period in this embodiment is preferably, but not limited to, 10 ms-100 ms, and the range of the time period length can be specifically set by those skilled in the art according to actual needs.
  • Step 102 Calculate the following target vehicle speed.
  • calculate the following target vehicle speed according to the current distance and relative speed between the vehicle and the target vehicle in front, since both the host vehicle and the target vehicle in front are in a driving state , The distance and relative speed of the target vehicle in front of the vehicle are constantly changing.
  • calculating the following target speed it is calculated every 10ms-100ms, and it needs to be continuously updated to calculate the following target speed.
  • the following target vehicle speed is the cruising speed set for the vehicle.
  • the following target vehicle speed is the same as the speed of the preceding target vehicle.
  • V acc K 1 * ⁇ SK 2 * ⁇ V+V obj to calculate the following target vehicle speed
  • V acc is the target vehicle speed following the car
  • K 1 and K 2 are respectively the distance proportional coefficient and the speed proportional coefficient
  • ⁇ S is the relative distance between the vehicle and the target vehicle
  • ⁇ V is the relative speed of the vehicle and the target vehicle
  • V obj is the absolute speed of the target vehicle.
  • Step 103 Calculate the first target vehicle speed, and perform a logical operation on the following target vehicle speed and the set cruising speed. By comparing the following target vehicle speed with the set cruising speed, the lower speed is regarded as the first Target vehicle speed, reduce the driving speed of the vehicle;
  • V tar min(V acc ,V cc ) to calculate the first target vehicle speed
  • V tar is the first target vehicle speed
  • V acc is the target vehicle speed following the car
  • V cc is the cruising speed set by the driver.
  • Step 104 Calculate the acceleration limit.
  • the acceleration limit is obtained under the limit of the set maximum acceleration and deceleration threshold and the acceleration change slope.
  • the acceleration limit is used to ensure a smooth transition of the acceleration of the vehicle without sudden changes and improve the comfort of the driver.
  • the acceleration limit of the vehicle is specifically set through several driving tests, and the magnitude of the acceleration limit is limited to a reasonable interval, and the acceleration The limit is obtained under the set acceleration change slope.
  • the maximum acceleration and deceleration threshold range is: 2 ⁇ 13m/s 2
  • the acceleration change slope is: -2 ⁇ 1m/s 3 .
  • the acceleration limit in this embodiment is an empirical value, which can be checked and retrieved according to actual driving information in actual use.
  • the vehicle detects the target vehicle ahead it is converted to the second target speed to adjust the speed of the vehicle to avoid sudden changes in the speed of the vehicle, reduce traffic accidents caused by sudden changes in vehicle speed, and the driver’s discomfort. The car shifts smoothly. Then the second target vehicle speed is derived to obtain the target acceleration.
  • Step 106 According to the difference between the current vehicle speed of the vehicle and the second target vehicle speed, the target acceleration is compensated through PID controller feedback control, the compensated acceleration is output, and the vehicle driving force required by the vehicle is calculated.
  • the target acceleration is compensated through PID feedback control, using the formula:
  • a cal K p ⁇ v k +k i ⁇ v k +k d ( ⁇ v k - ⁇ v k-1 ) output compensation acceleration
  • a cal is the compensation acceleration
  • k p , k i , and k d are the proportional coefficient, the integral coefficient and the differential coefficient, respectively;
  • ⁇ v k and ⁇ v k-1 are the speed deviation of the current sampling point and the speed deviation of the previous sampling point, respectively.
  • the speed deviation of the sampling point is the difference between the actual vehicle body speed V curr and the second target vehicle speed.
  • the compensation acceleration is a negative value, and the vehicle needs to be reduced. the actual vehicle speed V curr, until the same vehicle to adjust the vehicle actual speed to the second target vehicle speed V curr.
  • actual car body speed V curr is less than the second target vehicle speed when acceleration compensation is positive, it is necessary to enhance the actual vehicle body speed V curr, until the same vehicle to adjust the vehicle actual speed to the second target vehicle speed V curr.
  • F is the driving force of the vehicle
  • a tar is the target acceleration
  • a cal is the compensation acceleration
  • F f , F w , and F i are rolling resistance, air resistance and ramp resistance, respectively;
  • ⁇ and m are respectively the conversion factor of moment of inertia and the total mass of the vehicle.
  • Step 107 Repeat step 102 to step 106 to continuously calculate and calculate the entire vehicle driving force required by the vehicle until the actual vehicle body speed V curr is adjusted to be the same as the second target vehicle speed.
  • Step 108 the actuator switching judgment, the hysteresis algorithm is used when judging the positive or negative of the required torque to avoid the actuator switching back and forth at the critical switching point.
  • the hysteresis algorithm is specifically: when the required driving force of the vehicle is greater than the set upper limit, the torque of the upper limit is 100N ⁇ m, and the entire vehicle driving force of the vehicle is converted into the engine torque request through the transmission system and sent to the drive system; when When the required torque of the vehicle is less than the set lower limit, the torque of the lower limit is -100N ⁇ m, and the sum of the target acceleration and the compensated acceleration is sent to the electric control system; when the required torque of the vehicle is between the set upper and lower limits , Keep the target actuator unchanged.
  • a speed following control system of an adaptive cruise system includes:
  • Adaptive cruise system controller which is used to set the length of the time period; calculate the following target vehicle speed according to the current distance and speed of the vehicle and the target vehicle ahead; follow the target vehicle speed with the set speed
  • the lower one of the cruising vehicle speeds is used as the first target speed; the acceleration limit is obtained according to the maximum acceleration/deceleration threshold and the acceleration change slope; according to the first target speed and the acceleration limit, the second target speed at the end of the time period is calculated.
  • the target vehicle speed is derived to obtain the target acceleration; according to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated.
  • Forward millimeter-wave radar is used to monitor target vehicle information.
  • the target vehicle information includes the distance of the target vehicle and the absolute speed of the target vehicle.
  • the forward millimeter-wave radar is connected to the adaptive cruise system controller through the CAN bus.
  • the HMI panel is used to display the vehicle information.
  • the vehicle information includes the distance of the target vehicle and the speed of the vehicle.
  • the HMI panel is connected to the adaptive cruise system controller through the CAN bus.
  • Vehicle controller which is used for any one or more of drive torque control, optimal control of braking energy, vehicle energy management, CAN network maintenance and management, fault diagnosis and processing, and vehicle status monitoring
  • the vehicle controller is connected with the adaptive cruise system controller through the CAN bus.

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Abstract

A speed following control method and system for an adaptive cruise control system, pertaining to the technical field of automated driving. The method comprises: configuring a time period length; calculating a target following speed according to a current distance between of a vehicle and a target vehicle ahead and speeds thereof; using, as a first target speed, the lowest speed between the target following speed and a configured cruise control speed; acquiring an acceleration limit according to a maximum acceleration and deceleration threshold and an acceleration change slope; calculating a second target speed at the end of the time period according to the first target speed and the acceleration limit; and compensating for target acceleration according to a difference between a current speed and the second target speed, and calculating overall driving force required by the vehicle. The second target speed and the target acceleration are acquired in real time according to the first target speed and the acceleration limit, thereby ensuring that the target acceleration and the second target speed are smoothly changed without sudden changes when the vehicle switches between a vehicle following state and a no-vehicle state, and greatly reducing speed control overshoot.

Description

一种自适应巡航系统的速度跟随控制方法及系统Speed following control method and system of adaptive cruise system 技术领域Technical field
本发明涉及自动驾驶技术领域，具体是涉及一种自适应巡航系统的速度跟随控制方法及系统。The invention relates to the technical field of automatic driving, in particular to a speed following control method and system of an adaptive cruise system.
背景技术Background technique
自适应巡航控制(Adaptive Cruise Control，ACC)是一个允许车辆巡航控制系统通过调整速度以适应交通状况的汽车功能，主要用于提升行驶安全，自适应巡航控制系统的控制技术越来越受到重视。Adaptive Cruise Control (Adaptive Cruise Control, ACC) is an automobile function that allows the vehicle's cruise control system to adjust its speed to adapt to traffic conditions. It is mainly used to improve driving safety. The control technology of the adaptive cruise control system is getting more and more attention.
在现有技术中，自适应巡航控制系统主要通过检测本车前进道路上是否存在车辆，当前方出现车辆时，通过主动减速，以控制本车与前方车辆的合理间距，当前方无车辆时，按照驾驶员设定的车速行驶。In the prior art, the adaptive cruise control system mainly detects whether there is a vehicle on the road ahead of the vehicle. When a vehicle is present, it actively decelerates to control the reasonable distance between the vehicle and the vehicle in front. When there is no vehicle in front, Drive at the speed set by the driver.
中国专利：201810842856.1一种基于纯电动车的自适应巡航控制方法，包括根据前车距离、相对速度、目标车速、当前车速、跟车距离计算目标整车加速度，在无前车时采用CC定速巡航模式，其计算公式如下：Chinese Patent: 201810842856.1 An adaptive cruise control method based on a pure electric vehicle, including calculating the target vehicle acceleration based on the distance of the vehicle ahead, relative speed, target speed, current vehicle speed, and following distance, and using CC constant speed when there is no vehicle in front For cruise mode, the calculation formula is as follows:
a x,cc＝K v(V set-V x) a x,cc =K v (V set -V x )
在跟车状态下或前方出现车辆目标时，采用ACC自适应巡航算法，其计算方法如下：When following a car or when a vehicle target appears ahead, the ACC adaptive cruise algorithm is used, and the calculation method is as follows:
a x,acc＝K ACC(K dx*(dx-dxsesired)+K dv*dv) a x,acc =K ACC (K dx *(dx-dxsesired)+K dv *dv)
通过车辆行驶方程将加速度转换为整车驱动扭矩。The acceleration is converted into the driving torque of the vehicle through the vehicle driving equation.
电机请求扭矩在电机最高扭矩峰值和电机扭矩变化斜率的限制下进行输出。The motor request torque is output under the limitation of the maximum torque peak value of the motor and the slope of the motor torque change.
当加速度大于上限时，电机输出正扭矩进行驱动控制，当加速度 小于上限且大于下限时，电机输出负扭矩进行制动，当加速度小于下限时采用整车基础制动。When the acceleration is greater than the upper limit, the motor outputs a positive torque for drive control. When the acceleration is less than the upper limit and greater than the lower limit, the motor outputs a negative torque for braking. When the acceleration is less than the lower limit, the entire vehicle is used for basic braking.
然而，上述现有的自适应巡航控制方法在巡航模式和跟车模式切换时，即前方由有车变为无车或无车变为有车时，具有一定的局限性，这主要表现为：在跟车和无车两种状态之间切换时目标加速度和目标速度会出现突变，本车突然减速，对周围正常行驶车辆造成干扰从而易引发交通事故，其次，本车突然减速使驾驶员产生不适感。However, the above-mentioned existing adaptive cruise control method has certain limitations when switching between cruise mode and car-following mode, that is, when the front changes from car to car or car without car to car. The main manifestations are as follows: When switching between the following and no-car states, the target acceleration and target speed will suddenly change. The car will suddenly slow down, which will interfere with the normal running vehicles around and easily cause traffic accidents. Secondly, the sudden deceleration of the car will cause the driver to produce Discomfort.
发明内容Summary of the invention
本发明的目的是为了克服上述背景技术的不足，提供一种自适应巡航系统的速度跟随控制方法及系统。The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a speed following control method and system for an adaptive cruise system.
本发明提供一种自适应巡航系统的速度跟随控制方法，包括以下步骤：The present invention provides a speed following control method of an adaptive cruise system, which includes the following steps:
设定时间周期长度；Set the length of the time period;
根据本车与前方目标车辆当前的车距和车速计算跟车目标车速；Calculate the following target vehicle speed based on the current distance and speed of the vehicle and the target vehicle ahead;
将跟车目标车速与设定的巡航车速中较小的作为第一目标车速；Take the smaller of the following target vehicle speed and the set cruising speed as the first target vehicle speed;
根据最大加减速度阈值及加速度变化斜率得到加速度限值；Obtain the acceleration limit according to the maximum acceleration and deceleration threshold and the acceleration change slope;
根据第一目标车速和加速度限值，计算时间周期终点时第二目标车速，对第二目标车速求导得到目标加速度；According to the first target vehicle speed and the acceleration limit value, the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target acceleration;
根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力。According to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated.
优选方案：根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力之后，还包括：Optimal solution: After the target acceleration is compensated based on the difference between the current vehicle speed and the second target vehicle speed, and the vehicle driving force required by the vehicle is calculated, it also includes:
当本车需求的整车驱动力大于设定的上限时，将本车的整车驱动力通过传动系统换算为发动机扭矩请求发给驱动系统；When the driving force of the vehicle required by the vehicle is greater than the set upper limit, the driving force of the vehicle is converted into the engine torque request through the transmission system and sent to the drive system;
当本车需求扭矩小于设定的下限时，将目标加速度和补偿加速度之和发送给电控制动系统；When the requested torque of the vehicle is less than the set lower limit, the sum of the target acceleration and the compensation acceleration is sent to the electric control system;
当本车需求扭矩在设定的上下限之间时，保持目标执行器不变。When the required torque of the vehicle is between the set upper and lower limits, keep the target actuator unchanged.
优选方案：所述根据本车与前方目标车辆的车距和车速实时计算跟车目标车速还包括：Preferred solution: the real-time calculation of the following target vehicle speed based on the distance and speed of the vehicle and the target vehicle ahead further includes:
在本车和前方目标车辆的车距与设定相对距离相等且车速相等时，跟车目标车速与前方目标车辆的速度相同；When the distance between the vehicle and the target vehicle ahead is equal to the set relative distance and the speed is the same, the target vehicle speed of the following vehicle is the same as the speed of the target vehicle ahead;
在本车前方无目标车辆时，跟车目标车速为设定的巡航车速。When there is no target vehicle in front of the vehicle, the following target vehicle speed is the set cruising speed.
优选方案：根据本车与前方目标车辆当前的车距和车速计算跟车目标车速，包括：Preferred solution: Calculate the target vehicle speed for following the vehicle based on the current distance and speed of the vehicle and the target vehicle ahead, including:
使用公式V acc＝K 1*△S-K 2*△V+V obj计算跟车目标车速， Use the formula V acc ＝K 1 *△SK 2 *△V+V obj to calculate the target vehicle speed following the car,
其中：among them:
V acc为跟车目标车速； V acc is the target vehicle speed following the car;
K 1、K 2分别为距离比例系数和速度比例系数； K 1 and K 2 are respectively the distance proportional coefficient and the speed proportional coefficient;
ΔS为本车与目标车辆相对距离；ΔS is the relative distance between the vehicle and the target vehicle;
ΔV为本车与目标车辆相对速度；ΔV is the relative speed of the vehicle and the target vehicle;
V obj为目标车辆绝对速度。 V obj is the absolute speed of the target vehicle.
优选方案：所述将跟车目标车速与设定的巡航车速中较小的作为第一目标车速，包括：The preferred solution: the setting of the smaller of the following target vehicle speed and the set cruising speed as the first target vehicle speed includes:
将跟车目标车速与设定的巡航车速进行取小的逻辑运算，使用公 式V tar＝min(V acc,V cc)得到第一目标车速， Carry out a logical operation to take the smaller of the following target vehicle speed and the set cruising speed, and use the formula V tar =min(V acc ,V cc ) to obtain the first target vehicle speed,
其中：among them:
V tar为第一目标车速； V tar is the first target vehicle speed;
V acc为跟车目标车速； V acc is the target vehicle speed following the car;
V cc为驾驶员设定的巡航车速。 V cc is the cruising speed set by the driver.
优选方案：所述根据当前车速与第二目标车速的差值，对目标加速度进行补偿包括：Preferred solution: said compensating the target acceleration according to the difference between the current vehicle speed and the second target vehicle speed includes:
当本车当前车速与第二目标车速有偏差时，通过PID反馈控制对目标加速度进行补偿，使用公式：When the current speed of the vehicle deviates from the second target speed, the target acceleration is compensated through PID feedback control, using the formula:
a cal＝K pΔv k+k iΔv k+k d(Δv k-Δv k-1)计算补偿加速度， a cal =K p Δv k +k i Δv k +k d (Δv k -Δv k-1 ) to calculate the compensation acceleration,
其中：among them:
a cal为补偿加速度； a cal is the compensation acceleration;
k p、k i、k d分别为比例系数、积分系数及微分系数； k p , k i , and k d are the proportional coefficient, the integral coefficient and the differential coefficient, respectively;
Δv k、Δv k-1分别为当前采样点速度偏差及上一采样点速度偏差。 Δv k and Δv k-1 are the speed deviation of the current sampling point and the speed deviation of the previous sampling point, respectively.
优选方案：所述计算本车需求的整车驱动力包括：Preferred scheme: The driving force of the whole vehicle for calculating the demand of the vehicle includes:
以车辆动力学模型作为前馈模型，使用公式：Taking the vehicle dynamics model as the feedforward model, use the formula:
F＝F f+F w+F i+δm(a tar+a cal)计算本车需求的整车驱动力， F = F f + F w + F i + δm (a tar + a cal ) to calculate the vehicle driving force required by the vehicle,
其中：among them:
F为整车驱动力；F is the driving force of the vehicle;
a tar为目标加速度； a tar is the target acceleration;
a cal为补偿加速度； a cal is the compensation acceleration;
F f、F w、F i分别为滚动阻力、空气阻力及坡道阻力； F f , F w , and F i are rolling resistance, air resistance and ramp resistance, respectively;
δ、m分别为转动惯量换算系数及整车总质量。δ and m are respectively the conversion factor of moment of inertia and the total mass of the vehicle.
优选方案：所述时间周期长度为：10ms～100ms，根据本车与前方目标车辆当前的车距和车速每间隔10ms～100ms计算一次计算跟车目标车速。A preferred solution: the length of the time period is: 10ms-100ms, and the following target vehicle speed is calculated every 10ms-100ms according to the current distance and vehicle speed of the vehicle and the target vehicle ahead.
本发明另一方面提供了一种自适应巡航系统的速度跟随控制系统，包括：Another aspect of the present invention provides a speed following control system of an adaptive cruise system, including:
自适应巡航系统控制器，其用于设定时间周期长度；根据本车与前方目标车辆当前的车距和车速计算跟车目标车速；将跟车目标车速与设定的巡航车速中较小的作为第一目标车速；根据最大加减速度阈值及加速度变化斜率得到加速度限值；根据第一目标车速和加速度限值，计算时间周期终点时第二目标车速，对第二目标车速求导得到目标加速度；根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力；Adaptive cruise system controller, which is used to set the length of the time period; calculate the following target vehicle speed according to the current distance and speed of the vehicle and the target vehicle ahead; compare the following target vehicle speed to the set cruise speed, whichever is smaller As the first target vehicle speed; the acceleration limit is obtained according to the maximum acceleration/deceleration threshold value and the acceleration change slope; according to the first target vehicle speed and the acceleration limit, the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target Acceleration; according to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated;
前向毫米波雷达，其用于监测目标车辆信息，所述目标车辆信息包括目标车辆的距离和目标车辆绝对速度，所述前向毫米波雷达通过CAN总线与自适应巡航系统控制器连接。The forward millimeter wave radar is used to monitor target vehicle information, the target vehicle information includes the distance of the target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected to the adaptive cruise system controller through the CAN bus.
优选方案：还包括：Preferred plan: also includes:
HMI面板，所述HMI面板用于显示本车信息，所述本车信息包括目标车辆的距离和本车车速，所述HMI面板通过CAN总线与自适应巡航系统控制器连接；HMI panel, the HMI panel is used to display the own vehicle information, the own vehicle information includes the distance of the target vehicle and the own vehicle speed, the HMI panel is connected with the adaptive cruise system controller through the CAN bus;
整车控制器，所述整车控制器用于驱动力矩控制、制动能量的优化控制、整车的能量管理、CAN网络的维护和管理、故障的诊断和处 理、车辆状态监视中的任意一种或多种，所述整车控制器通过CAN总线与自适应巡航系统控制器连接。Vehicle controller, which is used for any of driving torque control, optimal control of braking energy, vehicle energy management, CAN network maintenance and management, fault diagnosis and processing, and vehicle status monitoring Or more, the vehicle controller is connected with the adaptive cruise system controller through the CAN bus.
在上述技术方案的基础上，与现有技术相比，本发明的优点如下：Based on the above technical solution, compared with the prior art, the advantages of the present invention are as follows:
本发明的一种自适应巡航系统的速度跟随控制方法及系统，本发明自适应巡航系统的速度跟随控制方法在本车前方出现目标车辆时，根据目标车辆信息和本车的车辆信息计算跟车目标车速，将跟车目标车速与设定的巡航车速进行取小运算后得到第一目标车速。将第一目标车速通过加速度限值的限制下输出第二目标车速及目标加速度，保证本车在跟车和无车两种状态之间切换时目标加速度和第二目标车速均平滑变化无突变，极大的降低的车速控制的超调量。避免本车突然减速，对周围正常行驶车辆造成干扰从而易引发交通事故，同时提升驾驶的舒适感。A speed following control method and system for an adaptive cruise system of the present invention. When a target vehicle appears in front of the vehicle, the speed following control method of the adaptive cruise system of the present invention calculates the following vehicle based on the target vehicle information and the vehicle information of the vehicle For the target vehicle speed, the first target vehicle speed is obtained after calculating the smaller of the following target vehicle speed and the set cruising speed. The first target vehicle speed is limited by the acceleration limit to output the second target vehicle speed and target acceleration to ensure that the target acceleration and the second target vehicle speed change smoothly without sudden changes when the vehicle is switching between the following and no-car states. Greatly reduce the overshoot of the vehicle speed control. Avoid sudden deceleration of the vehicle, which may cause interference to normal vehicles around and easily cause traffic accidents, and at the same time improve driving comfort.
附图说明Description of the drawings
图1是本发明第一实施例的方法流程图；Figure 1 is a flow chart of the method of the first embodiment of the present invention;
图2是本发明实施例的方法控制框图；Figure 2 is a method control block diagram of an embodiment of the present invention;
图3是本发明第二实施例的方法流程图Figure 3 is a flow chart of the method of the second embodiment of the present invention
图4是本发明实施例的系统结构示意图。Fig. 4 is a schematic diagram of the system structure of an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图及具体实施例对本发明作进一步的详细描述。The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.
实施例1Example 1
参见图1和图2所示，本发明实施例提供一种自适应巡航系统的速度跟随控制方法，包括以下步骤：Referring to Figure 1 and Figure 2, an embodiment of the present invention provides a speed following control method for an adaptive cruise system, which includes the following steps:
步骤101、设定时间周期长度，本实施例的时间周期长度优选但 不限于为10ms～100ms，时间周期长度范围本领域的技术人员可以根据实际需要具体设定。Step 101: Set the length of the time period. The length of the time period in this embodiment is preferably, but not limited to, 10 ms-100 ms, and the range of the time period length can be specifically set by those skilled in the art according to actual needs.
步骤102、计算跟车目标车速，在本车的前方有目标车辆时，根据本车与前方目标车辆当前的车距和相对速度计算跟车目标车速，由于本车和前方目标车辆都处于行驶状态，本车的前方有目标车辆的车距和相对速度都在不停变化状态，在计算跟车目标车速时每间隔10ms～100ms计算一次，需要不断更新计算跟车目标车速。Step 102: Calculate the following target vehicle speed. When there is a target vehicle in front of the vehicle, calculate the following target vehicle speed according to the current distance and relative speed between the vehicle and the target vehicle in front, since both the host vehicle and the target vehicle in front are in a driving state , The distance and relative speed of the target vehicle in front of the vehicle are constantly changing. When calculating the following target speed, it is calculated every 10ms-100ms, and it needs to be continuously updated to calculate the following target speed.
在本车的前方无车时，跟车目标车速即为本车设定的巡航车速。When there is no car in front of the vehicle, the following target vehicle speed is the cruising speed set for the vehicle.
在本车和前方目标车辆的相对距离与设定相对距离相等且相对速度等于零时，跟车目标车速与前方目标车辆的速度相同。When the relative distance between the host vehicle and the preceding target vehicle is equal to the set relative distance and the relative speed is equal to zero, the following target vehicle speed is the same as the speed of the preceding target vehicle.
在具体实施例中，在计算跟车目标车速时，根据本车与前方目标车辆的车距和相对速度使用公式：V acc＝K 1*△S-K 2*△V+V obj计算跟车目标车速， In a specific embodiment, when calculating the following target vehicle speed, the following formula is used according to the distance and relative speed between the host vehicle and the preceding target vehicle: V acc =K 1 *△SK 2 *△V+V obj to calculate the following target vehicle speed ,
其中：among them:
V acc为跟车目标车速； V acc is the target vehicle speed following the car;
K 1、K 2分别为距离比例系数和速度比例系数； K 1 and K 2 are respectively the distance proportional coefficient and the speed proportional coefficient;
ΔS为本车与目标车辆相对距离；ΔS is the relative distance between the vehicle and the target vehicle;
ΔV为本车与目标车辆相对速度；ΔV is the relative speed of the vehicle and the target vehicle;
V obj为目标车辆绝对速度。 V obj is the absolute speed of the target vehicle.
步骤103、计算第一目标车速，将跟车目标车速与设定的巡航车速进行取小的逻辑运算，通过将跟车目标车速与设定的巡航车速进行比较，将速度较小的作为第一目标车速，降低本车的行驶速度；Step 103: Calculate the first target vehicle speed, and perform a logical operation on the following target vehicle speed and the set cruising speed. By comparing the following target vehicle speed with the set cruising speed, the lower speed is regarded as the first Target vehicle speed, reduce the driving speed of the vehicle;
在具体实施例中，将跟车目标车速与设定的巡航车速进行取小的逻辑运算使用公式：V tar＝min(V acc,V cc)计算第一目标车速， In a specific embodiment, the following logical operation is performed on the target vehicle speed and the set cruise speed to be smaller, using the formula: V tar =min(V acc ,V cc ) to calculate the first target vehicle speed,
其中：among them:
V tar为第一目标车速； V tar is the first target vehicle speed;
V acc为跟车目标车速； V acc is the target vehicle speed following the car;
V cc为驾驶员设定的巡航车速。 V cc is the cruising speed set by the driver.
步骤104、计算加速度限值，加速度限值在设定的最大加减速度阈值及加速度变化斜率的限制下得到，加速度限值用于保证本车加速度平缓过渡无突变，提升驾驶人员的舒适感。Step 104: Calculate the acceleration limit. The acceleration limit is obtained under the limit of the set maximum acceleration and deceleration threshold and the acceleration change slope. The acceleration limit is used to ensure a smooth transition of the acceleration of the vehicle without sudden changes and improve the comfort of the driver.
在具体实施例中，由于加速度越大，速度改变的越快，因此本车加速度限值通过若干次驾驶试验具体设定得出，将加速度限值的大小进行限制在合理的区间内，并且加速度限值是在设定的加速度变化斜率下得出。最大加减速度阈值范围为：2～13m/s 2，加速度变化斜率为：-2～1m/s 3。本实施例的加速度限值为经验值，在实际使用中能够根据实际行驶信息进行查表和调取。 In a specific embodiment, because the greater the acceleration, the faster the speed changes, so the acceleration limit of the vehicle is specifically set through several driving tests, and the magnitude of the acceleration limit is limited to a reasonable interval, and the acceleration The limit is obtained under the set acceleration change slope. The maximum acceleration and deceleration threshold range is: 2～13m/s 2 , and the acceleration change slope is: -2～1m/s 3 . The acceleration limit in this embodiment is an empirical value, which can be checked and retrieved according to actual driving information in actual use.
步骤105、计算第二目标车速及目标加速度，根据第一目标车速和加速度限值实时得到第二目标车速，对第二目标车速求导得到目标加速度，具体为：第二目标车速＝加速度限值*时间周期长度+上周期车速，其中，时间周期长度的区间为10ms～100ms，第二目标车速每隔10ms～100ms时间计算一次，对第二目标车速持续计算。在本车检测到前方目标车辆的过程中转换为第二目标车速调整本车的速度，避免本车车速突然变化，减小因车速突然变化造成的交通事故，及驾驶 员感到的不适感，使本车平稳变速。然后对第二目标车速求导得到目标加速度。Step 105: Calculate the second target vehicle speed and target acceleration, obtain the second target vehicle speed in real time according to the first target vehicle speed and the acceleration limit value, and derive the second target vehicle speed to obtain the target acceleration, specifically: second target vehicle speed = acceleration limit value *The length of the time period + the vehicle speed of the previous period, where the interval of the time period length is 10ms-100ms, the second target vehicle speed is calculated every 10ms-100ms, and the second target vehicle speed is continuously calculated. When the vehicle detects the target vehicle ahead, it is converted to the second target speed to adjust the speed of the vehicle to avoid sudden changes in the speed of the vehicle, reduce traffic accidents caused by sudden changes in vehicle speed, and the driver’s discomfort. The car shifts smoothly. Then the second target vehicle speed is derived to obtain the target acceleration.
步骤106、根据本车当前车速与第二目标车速的差值，通过PID控制器反馈控制对目标加速度进行补偿，输出补偿加速度，并计算本车需求的整车驱动力。Step 106: According to the difference between the current vehicle speed of the vehicle and the second target vehicle speed, the target acceleration is compensated through PID controller feedback control, the compensated acceleration is output, and the vehicle driving force required by the vehicle is calculated.
在具体实施例中，当本车实际车速与第二目标车速有偏差时，通过PID反馈控制对目标加速度进行补偿，使用公式：In a specific embodiment, when the actual vehicle speed of the host vehicle deviates from the second target vehicle speed, the target acceleration is compensated through PID feedback control, using the formula:
a cal＝K pΔv k+k iΔv k+k d(Δv k-Δv k-1)输出补偿加速度， a cal =K p Δv k +k i Δv k +k d (Δv k -Δv k-1 ) output compensation acceleration,
其中：among them:
a cal为补偿加速度； a cal is the compensation acceleration;
k p、k i、k d分别为比例系数、积分系数及微分系数； k p , k i , and k d are the proportional coefficient, the integral coefficient and the differential coefficient, respectively;
Δv k、Δv k-1分别为当前采样点速度偏差及上一采样点速度偏差。 Δv k and Δv k-1 are the speed deviation of the current sampling point and the speed deviation of the previous sampling point, respectively.
在具体实施例中，采样点速度偏差为本车车身实际速度V curr与第二目标车速之差，在本车车身实际速度V curr大于第二目标车速时补偿加速度为负值，需要降低本车车身实际速度V curr，直到调整本车车身实际速度V curr与第二目标车速相同。在车车身实际速度V curr小于第二目标车速时补偿加速度为正值，需要提升本车车身实际速度V curr，直到调整本车车身实际速度V curr与第二目标车速相同。 In a specific embodiment, the speed deviation of the sampling point is the difference between the actual vehicle body speed V curr and the second target vehicle speed. When the actual vehicle body speed V curr is greater than the second target vehicle speed, the compensation acceleration is a negative value, and the vehicle needs to be reduced. the actual vehicle speed V curr, until the same vehicle to adjust the vehicle actual speed to the second target vehicle speed V curr. In actual car body speed V curr is less than the second target vehicle speed when acceleration compensation is positive, it is necessary to enhance the actual vehicle body speed V curr, until the same vehicle to adjust the vehicle actual speed to the second target vehicle speed V curr.
然后以车辆动力学模型作为前馈模型，计算本车需求的整车驱动力；Then use the vehicle dynamics model as the feedforward model to calculate the vehicle driving force required by the vehicle;
在具体实施例中，以车辆动力学模型作为前馈模型，使用车辆行驶方程公式：F＝F f+F w+F i+δm(a tar+a cal)计算本车需求的整车驱 动力， In the specific embodiment, the vehicle dynamics model is used as the feedforward model, and the vehicle driving equation formula is used: F=F f +F w +F i +δm(a tar +a cal ) to calculate the driving force required by the vehicle ,
其中：among them:
F为整车驱动力；F is the driving force of the vehicle;
a tar为目标加速度； a tar is the target acceleration;
a cal为补偿加速度； a cal is the compensation acceleration;
F f、F w、F i分别为滚动阻力、空气阻力及坡道阻力； F f , F w , and F i are rolling resistance, air resistance and ramp resistance, respectively;
δ、m分别为转动惯量换算系数及整车总质量。δ and m are respectively the conversion factor of moment of inertia and the total mass of the vehicle.
步骤107、重复步骤102至步骤106不断计算计算本车需求的整车驱动力，直到调整本车车身实际速度V curr与第二目标车速相同。 Step 107: Repeat step 102 to step 106 to continuously calculate and calculate the entire vehicle driving force required by the vehicle until the actual vehicle body speed V curr is adjusted to be the same as the second target vehicle speed.
实施例2Example 2
如图3所示，本发明实施例的一种自适应巡航系统的速度跟随控制方法，本实施例与实施例1的区别在于：As shown in FIG. 3, a speed following control method of an adaptive cruise system according to an embodiment of the present invention, the difference between this embodiment and Embodiment 1 lies in:
步骤108、执行器切换判断，对需求扭矩的正负判断时采用滞回算法，避免执行器在临界切换点来回切换。滞回算法具体为：当本车需求驱动力大于设定的上限时，上限值的扭矩为100N·m，将本车整车驱动力通过传动系统换算为发动机扭矩请求发给驱动系统；当本车需求扭矩小于设定的下限时，下限的扭矩为-100N·m，将目标加速度和补偿加速度之和发送给电控制动系统；当本车需求扭矩在设定的上下限之间时，保持目标执行器不变。Step 108, the actuator switching judgment, the hysteresis algorithm is used when judging the positive or negative of the required torque to avoid the actuator switching back and forth at the critical switching point. The hysteresis algorithm is specifically: when the required driving force of the vehicle is greater than the set upper limit, the torque of the upper limit is 100N·m, and the entire vehicle driving force of the vehicle is converted into the engine torque request through the transmission system and sent to the drive system; when When the required torque of the vehicle is less than the set lower limit, the torque of the lower limit is -100N·m, and the sum of the target acceleration and the compensated acceleration is sent to the electric control system; when the required torque of the vehicle is between the set upper and lower limits , Keep the target actuator unchanged.
实施例3Example 3
如图3所示，本发明实施例的一种自适应巡航系统的速度跟随控制系统，包括：As shown in FIG. 3, a speed following control system of an adaptive cruise system according to an embodiment of the present invention includes:
自适应巡航系统控制器，自适应巡航系统控制器其用于设定时间周期长度；根据本车与前方目标车辆当前的车距和车速计算跟车目标车速；将跟车目标车速与设定的巡航车速中较小的作为第一目标车速；根据最大加减速度阈值及加速度变化斜率得到加速度限值；根据第一目标车速和加速度限值，计算时间周期终点时第二目标车速，对第二目标车速求导得到目标加速度；根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力。Adaptive cruise system controller, which is used to set the length of the time period; calculate the following target vehicle speed according to the current distance and speed of the vehicle and the target vehicle ahead; follow the target vehicle speed with the set speed The lower one of the cruising vehicle speeds is used as the first target speed; the acceleration limit is obtained according to the maximum acceleration/deceleration threshold and the acceleration change slope; according to the first target speed and the acceleration limit, the second target speed at the end of the time period is calculated. The target vehicle speed is derived to obtain the target acceleration; according to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated.
前向毫米波雷达，前向毫米波雷达用于监测目标车辆信息，目标车辆信息包括目标车辆的距离和目标车辆绝对速度，前向毫米波雷达通过CAN总线与自适应巡航系统控制器连接。Forward millimeter-wave radar. Forward millimeter-wave radar is used to monitor target vehicle information. The target vehicle information includes the distance of the target vehicle and the absolute speed of the target vehicle. The forward millimeter-wave radar is connected to the adaptive cruise system controller through the CAN bus.
HMI面板，HMI面板用于显示本车信息，本车信息包括目标车辆的距离和本车车速，HMI面板通过CAN总线与自适应巡航系统控制器连接。HMI panel, the HMI panel is used to display the vehicle information. The vehicle information includes the distance of the target vehicle and the speed of the vehicle. The HMI panel is connected to the adaptive cruise system controller through the CAN bus.
整车控制器，整车控制器用于驱动力矩控制、制动能量的优化控制、整车的能量管理、CAN网络的维护和管理、故障的诊断和处理、车辆状态监视中的任意一种或多种，所述整车控制器通过CAN总线与自适应巡航系统控制器连接。Vehicle controller, which is used for any one or more of drive torque control, optimal control of braking energy, vehicle energy management, CAN network maintenance and management, fault diagnosis and processing, and vehicle status monitoring The vehicle controller is connected with the adaptive cruise system controller through the CAN bus.
本领域的技术人员可以对本发明实施例进行各种修改和变型，倘若这些修改和变型在本发明权利要求及其等同技术的范围之内，则这些修改和变型也在本发明的保护范围之内。Those skilled in the art can make various modifications and variations to the embodiments of the present invention. If these modifications and variations are within the scope of the claims of the present invention and their equivalent technologies, these modifications and variations are also within the protection scope of the present invention. .
说明书中未详细描述的内容为本领域技术人员公知的现有技术。The content not described in detail in the specification is the prior art well known to those skilled in the art.

Claims (10)

  1. 一种自适应巡航系统的速度跟随控制方法，其特征在于，包括以下步骤：A speed following control method for an adaptive cruise system is characterized in that it comprises the following steps:
    设定时间周期长度；Set the length of the time period;
    根据本车与前方目标车辆当前的车距和车速计算跟车目标车速；Calculate the following target vehicle speed based on the current distance and speed of the vehicle and the target vehicle ahead;
    将跟车目标车速与设定的巡航车速中较小的作为第一目标车速；Take the smaller of the following target vehicle speed and the set cruising speed as the first target vehicle speed;
    根据最大加减速度阈值及加速度变化斜率得到加速度限值；Obtain the acceleration limit according to the maximum acceleration and deceleration threshold and the acceleration change slope;
    根据第一目标车速和加速度限值，计算时间周期终点时第二目标车速，对第二目标车速求导得到目标加速度；According to the first target vehicle speed and the acceleration limit value, the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target acceleration;
    根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力。According to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated.
  2. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，A speed following control method for an adaptive cruise system as claimed in claim 1, characterized in that,
    根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力之后，还包括：After the target acceleration is compensated according to the difference between the current vehicle speed and the second target vehicle speed, and the vehicle driving force required by the vehicle is calculated, it also includes:
    当本车需求的整车驱动力大于设定的上限时，将本车的整车驱动力通过传动系统换算为发动机扭矩请求发给驱动系统；When the driving force of the vehicle required by the vehicle is greater than the set upper limit, the driving force of the vehicle is converted into the engine torque request through the transmission system and sent to the drive system;
    当本车需求扭矩小于设定的下限时，将目标加速度和补偿加速度之和发送给电控制动系统；When the required torque of the vehicle is less than the set lower limit, the sum of the target acceleration and the compensation acceleration is sent to the electric control system;
    当本车需求扭矩在设定的上下限之间时，保持目标执行器不变。When the required torque of the vehicle is between the set upper and lower limits, keep the target actuator unchanged.
  3. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，A speed following control method for an adaptive cruise system as claimed in claim 1, characterized in that:
    所述根据本车与前方目标车辆的车距和车速实时计算跟车目标 车速还包括：The real-time calculation of the following target vehicle speed based on the distance and speed of the vehicle and the target vehicle ahead also includes:
    在本车和前方目标车辆的车距与设定相对距离相等且车速相等时，跟车目标车速与前方目标车辆的速度相同；When the distance between the vehicle and the target vehicle ahead is equal to the set relative distance and the speed is the same, the target vehicle speed of the following vehicle is the same as the speed of the target vehicle ahead;
    在本车前方无目标车辆时，跟车目标车速为设定的巡航车速。When there is no target vehicle in front of the vehicle, the following target vehicle speed is the set cruising speed.
  4. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，A speed following control method for an adaptive cruise system as claimed in claim 1, characterized in that,
    根据本车与前方目标车辆当前的车距和车速计算跟车目标车速，包括：Calculate the following target vehicle speed based on the current distance and speed of the vehicle and the target vehicle ahead, including:
    使用公式V acc＝K 1*△S-K 2*△V+V obj计算跟车目标车速， Use the formula V acc ＝K 1 *△SK 2 *△V+V obj to calculate the target vehicle speed following the car,
    其中：among them:
    V acc为跟车目标车速； V acc is the target vehicle speed following the car;
    K 1、K 2分别为距离比例系数和速度比例系数； K 1 and K 2 are respectively the distance proportional coefficient and the speed proportional coefficient;
    ΔS为本车与目标车辆相对距离；ΔS is the relative distance between the vehicle and the target vehicle;
    ΔV为本车与目标车辆相对速度；ΔV is the relative speed of the vehicle and the target vehicle;
    V obj为目标车辆绝对速度。 V obj is the absolute speed of the target vehicle.
  5. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，A speed following control method for an adaptive cruise system as claimed in claim 1, characterized in that:
    所述将跟车目标车速与设定的巡航车速中较小的作为第一目标车速，包括：The setting of the smaller of the following target vehicle speed and the set cruising speed as the first target vehicle speed includes:
    将跟车目标车速与设定的巡航车速进行取小的逻辑运算，使用公式V tar＝min(V acc,V cc)得到第一目标车速， Carry out a logical operation to take the smaller of the following target vehicle speed and the set cruise speed, and use the formula V tar =min(V acc ,V cc ) to obtain the first target vehicle speed,
    其中：among them:
    V tar为第一目标车速； V tar is the first target vehicle speed;
    V acc为跟车目标车速； V acc is the target vehicle speed following the car;
    V cc为驾驶员设定的巡航车速。 V cc is the cruising speed set by the driver.
  6. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，A speed following control method for an adaptive cruise system as claimed in claim 1, characterized in that:
    所述根据当前车速与第二目标车速的差值，对目标加速度进行补偿包括：The compensating for the target acceleration according to the difference between the current vehicle speed and the second target vehicle speed includes:
    当本车当前车速与第二目标车速有偏差时，通过PID反馈控制对目标加速度进行补偿，使用公式：When the current speed of the vehicle deviates from the second target speed, the target acceleration is compensated through PID feedback control, using the formula:
    a cal＝K pΔv k+k iΔv k+k d(Δv k-Δv k-1)计算补偿加速度， a cal =K p Δv k +k i Δv k +k d (Δv k -Δv k-1 ) to calculate the compensation acceleration,
    其中：among them:
    a cal为补偿加速度； a cal is the compensation acceleration;
    k p、k i、k d分别为比例系数、积分系数及微分系数； k p , k i , and k d are the proportional coefficient, the integral coefficient and the differential coefficient, respectively;
    Δv k、Δv k-1分别为当前采样点速度偏差及上一采样点速度偏差。 Δv k and Δv k-1 are the speed deviation of the current sampling point and the speed deviation of the previous sampling point, respectively.
  7. 如权利要求6所述的一种自适应巡航系统的速度跟随控制方法，其特征在于，所述计算本车需求的整车驱动力包括：The speed following control method of an adaptive cruise system according to claim 6, wherein the calculation of the driving force of the vehicle required by the vehicle comprises:
    以车辆动力学模型作为前馈模型，使用公式：Using the vehicle dynamics model as the feedforward model, use the formula:
    F＝F f+F w+F i+δm(a tar+a cal)计算本车需求的整车驱动力， F = F f + F w + F i + δm (a tar + a cal ) to calculate the vehicle driving force required by the vehicle,
    其中：among them:
    F为整车驱动力；F is the driving force of the vehicle;
    a tar为目标加速度； a tar is the target acceleration;
    a cal为补偿加速度； a cal is the compensation acceleration;
    F f、F w、F i分别为滚动阻力、空气阻力及坡道阻力； F f , F w , and F i are rolling resistance, air resistance and ramp resistance, respectively;
    δ、m分别为转动惯量换算系数及整车总质量。δ and m are respectively the conversion factor of moment of inertia and the total mass of the vehicle.
  8. 如权利要求1所述的一种自适应巡航系统的速度跟随控制方法，其特征在于：A speed following control method for an adaptive cruise system according to claim 1, characterized in that:
    所述时间周期长度为：10ms～100ms，根据本车与前方目标车辆当前的车距和车速每间隔10ms～100ms计算一次计算跟车目标车速。The length of the time period is 10ms-100ms, and the following target vehicle speed is calculated every 10ms-100ms according to the current distance and vehicle speed of the host vehicle and the target vehicle ahead.
  9. 一种自适应巡航系统的速度跟随控制系统，其特征在于，包括：A speed following control system of an adaptive cruise system, which is characterized in that it comprises:
    自适应巡航系统控制器，其用于设定时间周期长度；根据本车与前方目标车辆当前的车距和车速计算跟车目标车速；将跟车目标车速与设定的巡航车速中较小的作为第一目标车速；根据最大加减速度阈值及加速度变化斜率得到加速度限值；根据第一目标车速和加速度限值，计算时间周期终点时第二目标车速，对第二目标车速求导得到目标加速度；根据当前车速与第二目标车速的差值，对目标加速度进行补偿，并计算本车需求的整车驱动力；Adaptive cruise system controller, which is used to set the length of the time period; calculate the following target vehicle speed according to the current distance and speed of the vehicle and the target vehicle ahead; compare the following target vehicle speed to the set cruise speed, whichever is smaller As the first target vehicle speed; the acceleration limit is obtained according to the maximum acceleration and deceleration threshold value and the acceleration change slope; according to the first target vehicle speed and acceleration limit, the second target vehicle speed at the end of the time period is calculated, and the second target vehicle speed is derived to obtain the target Acceleration; according to the difference between the current vehicle speed and the second target vehicle speed, the target acceleration is compensated, and the vehicle driving force required by the vehicle is calculated;
    前向毫米波雷达，其用于监测目标车辆信息，所述目标车辆信息包括目标车辆的距离和目标车辆绝对速度，所述前向毫米波雷达通过CAN总线与自适应巡航系统控制器连接。The forward millimeter wave radar is used to monitor target vehicle information, the target vehicle information includes the distance of the target vehicle and the absolute speed of the target vehicle, and the forward millimeter wave radar is connected to the adaptive cruise system controller through the CAN bus.
  10. 如权利要求9所述的一种自适应巡航系统的速度跟随控制系统，其特征在于，还包括：The speed following control system of an adaptive cruise system according to claim 9, characterized in that it further comprises:
    HMI面板，所述HMI面板用于显示本车信息，所述本车信息包括目标车辆的距离和本车车速，所述HMI面板通过CAN总线与自适应巡航系统控制器连接；HMI panel, the HMI panel is used to display the own vehicle information, the own vehicle information includes the distance of the target vehicle and the own vehicle speed, the HMI panel is connected with the adaptive cruise system controller through the CAN bus;
    整车控制器，所述整车控制器用于驱动力矩控制、制动能量的优化控制、整车的能量管理、CAN网络的维护和管理、故障的诊断和处理、车辆状态监视中的任意一种或多种，所述整车控制器通过CAN总线与自适应巡航系统控制器连接。A vehicle controller, which is used for any of drive torque control, optimal control of braking energy, vehicle energy management, CAN network maintenance and management, fault diagnosis and processing, and vehicle status monitoring Or more, the vehicle controller is connected with the adaptive cruise system controller through the CAN bus.
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