CN109532833A - The excessively curved control method of self-adaption cruise system and computer readable storage medium - Google Patents

Abstract

The invention discloses a kind of excessively curved control method of self-adaption cruise system and computer readable storage mediums, including target acquisition and screening, excessively curved longitudinal speed control and cornering steering to control.The present invention can be improved safety, comfort and rapidity of the self-adaption cruise system during excessively curved.

Description

The excessively curved control method of self-adaption cruise system and computer readable storage medium

Technical field

The invention belongs to automobile active safety system technical fields, and in particular to a kind of excessively curved control of self-adaption cruise systemMethod and computer readable storage medium.

Background technique

With the development of vehicle intellectualized technology, people increasingly pay close attention to comfort and the safety of car steering, in turnThe intelligent travelling crane technology of generation increasingly becomes the main direction of development of automobile industry.Intelligent travelling crane technology mainly uses specificallyTechnology (including sensor technology, signal processing technology, the communication technology, computer technology) recognizes environment and shape locating for vehicleState receives and handles each sensor information, and makes analysis and judgement, promoted driver comfort, reduce driving procedure in becauseThe danger that certain emergency situations occur.

Important component of the adaptive cruise control system (hereinafter referred to as " ACC ") as intelligent travelling crane system beUpgrading to traditional constant-speed-cruise control system, the system can make vehicle keep the speed of driver's setting (hereinafter referred to as" desired speed "), can also Shi Ben Che and front truck keep the time gap (hereinafter referred to as " headway ") of driver's setting withWith front truck target travel, and adaptively carry out feed speed control.Currently, self-adaption cruise system regulation speed extend to fromThe 0 entire vehicle speed range started.

Currently, one is single radar scheme optimized integrations there are two types of the self-adaption cruise system logic control schemes of mainstreamCruise control logic, another kind is that radar and camera integration program realize the cruise control logic being more precisely controlled.More thanTwo kinds of implementations are all that sensor is utilized to carry out target information detection to tracking object, carry out vehicle in conjunction with certain algorithmSpeed control.For expressway and through street straight way follow the bus can play the role of it is good, but be directed to the situation meeting of bend follow the busAppearance largely reduces comfortableness and security.Itself the reason is as follows that, bend follow the bus cruise during, front vehicles due toTurning, in fact it could happen that target lose the case where, at this point, Ben Cheruo it is unidentified arrive new follow the bus target, and driver setting patrolSpeed of a ship or plane degree is bigger, then is likely to occur anxious acceleration situation, this operating condition is in extreme danger in some cases.In addition, when drivingMember can carry out course changing control, this Che Keneng without timely manipulation direction disk during the turn due to of short duration absent mindedDeviate normal lane, drives towards adjacent lane, under this operating condition, may collide danger with adjacent lane vehicle.

Curve control logic pair is designed from the aspect of safety, comfort, rapidity three for above situationIt is particularly important in the promotion of self-adaption cruise system overall performance.

Summary of the invention

The object of the present invention is to provide a kind of excessively curved control method of self-adaption cruise system and computer readable storage medium,To improve safety, comfort and rapidity of the self-adaption cruise system during excessively curved.

The excessively curved control method of a kind of self-adaption cruise system of the present invention, comprising the following steps:

Target acquisition and screening:

During passing through bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye, ifIt is, it is determined that this vehicle does not switch front follow the bus target；If it is not, then detecting side lane, whether there is or not fresh targets；If not detecting new meshMark then determines front without available follow the bus target；If detecting fresh target, judge whether the fresh target can be as new follow the busTarget；

Cross curved longitudinal speed control:

This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V=Min (the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；

In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then controlThis vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, this vehicle most greater than curved velocity amplitude, thisVehicle setting cruise speed) excessively curved traveling；

In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control thisVehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value when front truck disappears,This vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved；

Cornering steering control:

In response to monitoring that this vehicle driver does not take any adapter tube to act, determine the excessively curved speed of this vehicle whether excessively curvedMaximum speed limits in range, and the excessively curved speed of Ruo Benche was less than curved maximum speed limitation, then according to bend curvature and Ben CheExcessively curved speed calculated curved torque value and exported electron servo steering system, carry out corresponding course changing control, steering procedureThe middle distance dis > preset threshold for guaranteeing this vehicle apart from lane edge, to guarantee that vehicle is always positioned in lane.

Further, when the front truck of this vehicle tracking is outside the field range of this vehicle, and side lane is detected when having fresh target,Get parms d_yc, d and θ, in which: d_ycOffset distance for fresh target relative to vehicle central axes；D is Ben Che and fresh targetActual range；θ is deflecting angle of the fresh target relative to vehicle central axes；

And according to parameter d_yc, d and θ calculate d_y, wherein d_yThe geometric locus predicted for this vehicle and the new mesh being actually detectedLateral deviating distance between mark；

If a fresh target is only detected, by d_yIt is compared with threshold value Th, if d_y< Th then determines fresh target optionalIn fixed follow the bus object range, and as new follow the bus target, if d_y>=Th, then determine front without available follow the bus target, i.e.,It is unidentified to arrive new follow the bus target；

If detecting multiple fresh targets simultaneously, the smallest d is taken_yValue is compared with threshold value Th, if d_y< Th then determines mostSmall d_yThe corresponding fresh target of value is new follow the bus target, if d_y>=Th then determines that front without available follow the bus target, that is, is knownIt is clipped to new follow the bus target.

Further, d_yCalculation method it is as follows:

d_y=d_yv+d_yc；

d_yc=d*sin θ；

d_yv=k_y*d²/2；

Wherein, d_yvOffset distance for prediction locus relative to vehicle central axes；k_yIndicate driving trace curvature.

Further, when front truck disappears, this vehicle instantaneous velocity is greater than this vehicle most greater than curved velocity amplitude, then controls this Che DangqianThis vehicle instantaneous velocity=this vehicle is most greater than curved velocity amplitude when crossing curved longitudinal acceleration less than or equal to 0, and updating front truck disappearance again.

Further, further include that bend determines:

Lane information is obtained, determines whether this vehicle has entered bend according to lane information, if entering target into bendDetection and screening.

A kind of computer readable storage medium of the present invention, the computer-readable recording medium storage have one orThe multiple programs of person, one or more of programs can be executed by one or more processor, to realize as described in inventionSelf-adaption cruise system excessively curved control method the step of.

The invention has the following advantages that if front truck disappears in the sight of this vehicle, and side lane has during excessively curvedWhen meeting the vehicle of follow the bus target, new follow the bus target can be quickly recognized；It control effectively simultaneously to excessively curved speed, energyIt is enough effectively to avoid then going out because target loss, the unidentified cruising speed set to new follow the bus target, driver are biggerNow anxious the case where accelerating, therefore the excessively curved performance of self-adaption cruise system is improved, it ensure that safety during excessively curved, relaxAdaptive and rapidity.

Detailed description of the invention

Fig. 1 is ACC system structural schematic diagram in the present invention；

Fig. 2 is main flow chart of the invention；

Fig. 3 is the principle of the present invention block diagram；

Fig. 4 is bend tracking object decision flowchart of the invention；

Fig. 5 is that follow the bus of the invention crosses bend schematic diagram of a scenario；

Fig. 6 is longitudinally controlled flow chart of the invention；

Fig. 7 is crosswise joint figure of the invention.

Specific embodiment

The present invention will be further explained below with reference to the attached drawings.

As shown in Fig. 2, the excessively curved control method of a kind of self-adaption cruise system of the present invention, comprising the following steps:

Bend determines:

Lane information is obtained, determines whether this vehicle has entered bend according to lane information.

Target acquisition and screening:

During passing through bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye, ifIt is, it is determined that this vehicle does not switch front follow the bus target；If it is not, then detecting side lane, whether there is or not fresh targets；If not detecting new meshMark then determines front without available follow the bus target；If detecting fresh target, judge whether the fresh target can be as new follow the busTarget；

Cross curved longitudinal speed control:

This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V=Min (the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；

In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then controlThis vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, this vehicle most greater than curved velocity amplitude, thisVehicle setting cruise speed) excessively curved traveling；

In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control thisVehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value when front truck disappears,This vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved；

Cornering steering control:

In response to monitoring that this vehicle driver does not take any adapter tube to act, determine the excessively curved speed of this vehicle whether excessively curvedMaximum speed limits in range, and the excessively curved speed of Ruo Benche was less than curved maximum speed limitation, then according to bend curvature and Ben CheExcessively curved speed calculated curved torque value and exported electron servo steering system, carry out corresponding course changing control, steering procedureThe middle distance dis > preset threshold for guaranteeing this vehicle apart from lane edge, to guarantee that vehicle is always positioned in lane.

As shown in Figure 1, in the present embodiment, self-adaption cruise system includes:

EPBi (Integrated Electric Parking Brake), integrated type electrical parking braking；

SRS (Supplemental Restraint System), air bag system；

TCU (Transmission Control Unit), motion control unit；

EPS (Electronic Power Steering), electric power steering；

HU (Head Unit), vehicle entertainment system base terminal；

BCM (Body Control Module), car body control module；

GW (GateWay), gateway；

LCM (Light Control Module), lamp dimmer；

IP (Instrument Panel), instrument；

LAS (Lane Assistant System), lane auxiliary system；

ACC (Adaptive Cruise Control) adaptive learning algorithms；

EPBi, SRS, TCU, EPS, EMS and ACC are connect with PCAN bus respectively, and ACC is connect with LAS by privately owned CAN,HU is connect with InfoCAN bus, and BCM, LCM and IP are connect with BCAN bus respectively, and LAS is connect with SafeCAN bus, and PCAN is totalLine, InfoCAN bus, SafeCAN bus and BCAN pass through GW respectively and are communicated.

As shown in Fig. 2, in order to improve the excessively curved performance of self-adaption cruise system, ensure that and bent through excessively in the present embodimentSafety, comfort and rapidity in journey.Devise the system for improving the excessively curved performance of self-adaption cruise system, the system packetIt includes: including information Perception unit, information decision unit and information execution unit.

Wherein, the information Perception unit includes target acquisition module, information of vehicles monitoring modular and course changing control monitoringModule, wherein the target acquisition module is used to obtain the movement state information and road information of this vehicle and front truck.The vehicleInformation monitoring module obtains the vehicle movement relevant information of this vehicle.The course changing control monitoring modular is for obtaining this vehicle steering wheelWhether steering angle information is had.

The information decision unit determines the expectation acceleration of this vehicle, expectation according to information Perception unit information obtainedSpeed and torque information.Here information decision is primarily referred to as central processing unit, and the central processing unit in the present embodiment is to utilizeExisting sensor central processing unit carries out transverse and longitudinal control on vehicle.During longitudinally controlled, central processing unit isRadar control processor (i.e. R-ECU), in crosswise joint, central processing unit be forward sight camera control processor (i.e.V-ECU)。

The information execution unit includes speed control execution module and course changing control execution module, is based on information decision listExpectation acceleration, desired speed and the torque information of member output executed curved longitudinal and excessively curved crosswise joint.Information execution refers toExecuting agency will obtain the information such as expectation acceleration, desired speed, torque information by the reverse kinetic model of automobile and be converted intoThe executable value of this vehicle is exported to the execution unit of interconnected system.Wherein execution unit (generally speed control, course changing control andAlarm module, such as integrated type electrical parking braking, electric boosting steering system, engine management system, instrument) cross is done respectivelyTo longitudinally controlled.

In the present embodiment, the target acquisition module include forward sight camera front end detecting module (i.e. V-detector) andRadar front end detecting module (i.e. R-detector).

Wherein, the radar front end detecting module is used to detect follow the bus target in front of this lane and adjacent lane, andCorresponding effective target object is pre-processed, corresponding target object pretreatment information is sent to radar control processingDevice；Radar control processor determines whether detected object (i.e. fresh target) is that available effective target tracks according to certain algorithmObject (i.e. new tracking object), and store the corresponding information of vehicles numerical value of the detected object (including opposite fore-and-aft distance, transverse directionDistance, relative velocity etc.).

Forward sight camera front end detecting module for identification believe by this front side target type, lateral distance, lane lineBreath, this spacing lane line lateral distance, this vehicle driving process bend curvature, bend speed limitation board information, meanwhile, by knot identified aboveFruit is pre-processed, and corresponding target object pretreatment information is exported camera control processor in real time.

In the present embodiment, the information of vehicles monitoring modular is integrated type electrical parking braking, is used for real-time detection vehicleCurrent driving status numerical value, for providing the current instantaneous velocity of this vehicle, this vehicle acceleration, yaw rate, wheel speed information.

In the present embodiment, the course changing control monitoring modular is steering wheel hand torque sensor, is used for real-time monitoring directionDisk manipulates state, and outbound course disk manipulation information gives camera control processor, actively connects for determining whether driver hasPipe steering wheel does course changing control.

In the present embodiment, radar control processor is located inside radar assembly, mainly carries out to the excessively curved longitudinal speed of vehicleControl guarantees do not occur uncomfortable anxious acceleration, the bend information detected including reception forward sight camera front end detecting module,Lane line information, follow the bus target information, bend speed limit value, vehicle real-time speed, the acceleration, yaw rate of EPBi input,The follow the bus target information that its comprehensive internal radar front end detecting module detects, calculates appropriate excessively curved speed.Camera controlProcessor processed is located inside camera shooting assembly, mainly carries out control to the excessively curved lateral torsion of vehicle and guarantees the suitable comfortable mistake of torqueBend information, lane line information, follow the bus target information, bend speed limit value curved, detect including receiving camera, receive firstDriver's steering wheel hand moment information determine driver whether adapter tube steering wheel, it is determined whether intervention crosswise joint.Then, in conjunction withRadar control processor calculates the excessively curved velocity amplitude in longitudinal direction of output, determines whether the velocity amplitude is more than that this vehicle as defined in system is maximumCross curved velocity amplitude, it is determined whether intervention crosswise joint.If conditions above display system can intervene crosswise joint, there is cameraControl processor, which calculates a suitable laterally excessively curved torque value and exports electron servo steering system, executes Servo Control.

It is described excessively curved longitudinally controlled to include: in the present embodiment

By forward sight camera front end detecting module detection lane information, (including lane line and follow the bus target information, bend are bentRate, roadside speed limit signboard, from spacing lane line distance etc. information), output to camera control processor and radar control atDevice is managed, determines whether current vehicle has entered bend by camera control processor, and will determine that result is exported to radar controlProcessor；Radar front end detecting module is by this front side vehicle target information detected (including opposite fore-and-aft distance, cross simultaneouslyTo distance, relative velocity etc.) input to radar control processor.

Input is received by radar control processor combination forward sight camera front end detecting module and radar front end detecting moduleTarget acquisition information, in conjunction with camera control processor input bend curvature information, filter out the follow the bus target of Ben Chexin.

As shown in figure 3, below in conjunction with improve self-adaption cruise system excessively curved performance system to control of the present inventionThe excessively curved control method of self-adaption cruise system processed is described in detail, comprising the following steps:

Bend determines:

Utilize forward sight camera front end detecting module detection lane information (including lane line and follow the bus target information, bendCurvature, roadside speed limit signboard, from spacing lane line distance etc. information), and export to camera control processor and radar beforeDetecting module is held, determines whether current vehicle has entered bend by camera control processor, and will determine that result is exported to thunderUp to front end detecting module；

Target acquisition and screening:

During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicleThe front truck of tracking is always held at this vehicle within sweep of the eye, then radar control processor determines that this vehicle does not switch front follow the bus meshMark；

During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicleThe front truck of tracking disappears in this vehicle within sweep of the eye, and radar front end detecting module and the detection of forward sight camera front end detecting moduleTo side lane without new traceable target vehicle, then radar control processor determines front without available follow the bus target；

During passing through bend, when radar front end detecting module and forward sight camera front end detecting module detect this vehicleThe front truck of tracking disappears in this vehicle within sweep of the eye, and being detected simultaneously by side lane has new vehicle that may invade as this vehicleThe fresh target of tracking, then radar control processor determines whether fresh target can be used as new tracking object；If fresh target is optionalIn fixed follow the bus object range, then using fresh target as new follow the bus target；If fresh target is not in the follow the bus object model that can be selectedIn enclosing, then radar control processor determines front without available follow the bus target；

As shown in Figure 4 and Figure 5, in the present embodiment, radar control processor determines whether fresh target can be used as new follow the busMesh calibration method is as follows:

The path deviation d with prediction object is calculated first_y:

d_y=d_yv+d_yc(formula one)；

d_yc=d*sin θ (formula two)；

d_yv=k_y*d²/ 2 (formula three)；

It can be obtained by formula (one) to formula (three): d_y=k_y*d²/2+d*sinθ。

Wherein, d_yvOffset distance for prediction locus relative to vehicle central axes；d_ycIt is fresh target relative to vehicle axisThe offset distance of line；It is detected by forward sight camera front end detecting module；D is the actual range of Ben Che and fresh target, before radarHold detecting module detection；θ is deflecting angle of the fresh target relative to vehicle central axes, is examined by forward sight camera front end detecting moduleIt surveys, k_yIt indicates driving trace curvature (i.e. ratio of the yaw-rate relative to current driving speed)；A is the geometric locus of prediction；B isVehicle central axes；d_yFor the path deviation with prediction object, (its value characterizes route that this vehicle predicts and is actually detectedLateral deviating distance between object).

Then it is compared, if a fresh target is only detected, by d_yIt (is demarcated according to many experiments with threshold value ThTo) be compared, if d_y< Th, it is determined that fresh target is in the follow the bus object range that can be selected, and as new follow the bus target,If d_y>=Th, then radar control processor determines front without available follow the bus target；If detecting multiple fresh targets simultaneously, takeThe smallest d_yValue is compared with threshold value Th, if d_y< Th, it is determined that the smallest d_yThe corresponding fresh target of value is new follow the bus meshMark, if d_y>=Th, then radar control processor determines front without available follow the bus target.

Cross curved longitudinal speed control:

If camera control processor detects that driver has the movement of adapter tube steering wheel, camera control processor determinesIt is not involved in system cornering steering control, carried out curved longitudinal speed control according to this vehicle by radar control processor；Specifically:

During by bend, if radar front end detecting module monitors that the front truck of this vehicle tracking is always held at this vehicleWithin sweep of the eye, then radar control processor controls this vehicle with excessively curved vehicle velocity V=Min (the preceding vehicle speed of tracking, bend speed limitValue, this vehicle setting cruise speed) follow the excessively curved traveling of front truck；If cross it is curved during, monitor that the front truck that this vehicle follows disappears, andUnidentified to arrive new follow the bus target, then radar control processor controls this vehicle with (this vehicle when front truck disappears of curved vehicle velocity V=Min excessivelyInstantaneous velocity, bend speed limit value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) excessively curved traveling；If radar front end is visitedIt surveys module and detects that front truck disappears, while the confirmation of radar front end detecting module is new follow the bus mesh the vehicle identification in side laneMark, then radar front end detecting module controls this vehicle with curved vehicle velocity V=Min excessively (this vehicle instantaneous velocity, bend speed limit when front truck disappearsValue is newly identified as follow the bus target vehicle speed value, this vehicle is most greater than curved velocity amplitude, this vehicle setting cruise speed) follow new follow the bus meshMark runs over curved.

As shown in Figure 5 and Figure 6, excessively curved longitudinal speed control is illustrated below in conjunction with example, wherein object 1 representsThe front truck (with this parking stall in same lane) of this vehicle tracking, object 2 represent the front truck that Ben Che neighboring trace detects, object 3 represents thisVehicle.

During passing through bend, when radar control processor determines that this vehicle does not switch front follow the bus target, then this vehicleExcessively curved vehicle velocity V=Min (V₀, V₁, V₃')；Wherein, V₀For bend speed limit value, detected by forward sight camera front end detecting moduleTo (such as: the speed limit value on speed limitation board), V₁For the preceding vehicle speed of tracking, V₃' it is this vehicle setting cruise speed.

During passing through bend, when the front truck of this vehicle tracking disappears, and radar control processor determines fresh target canIn selected follow the bus object range, and using fresh target as when new follow the bus target, then the excessively curved vehicle velocity V=Min (V of this vehicle₀,V₂,V₃', V₃, V_max)；Wherein, V₂Indicate the vehicle speed value of new follow the bus target；V₃This vehicle instantaneous velocity when disappearing for front truck；V_maxFor thisVehicle most greater than curved velocity amplitude,Wherein, a_maxIt indicates maximum side acceleration, is provided by EPBi；K represents bendCurvature is detected by forward sight camera front end detecting module and is provided.

During passing through bend, when radar control processor determines front without available follow the bus target, the mistake of this vehicleCurved vehicle velocity V=Min (V₀,V_max,V₃,V₃’)。

In the present embodiment, in order to avoid there is curved anxious acceleration, when front truck disappears, this vehicle instantaneous velocity is greater than this vehicle mostGreater than curved velocity amplitude (i.e. V₃> V_max), then control the current excessively curved longitudinal acceleration a of this vehicle_xLess than or equal to 0, and front truck is updated againThis vehicle instantaneous velocity=this vehicle is most greater than curved velocity amplitude (V when disappearance₃=V_max)。

Cornering steering control: as shown in fig. 7, during excessively curved, there is adapter tube to this vehicle driver in response to system detectionSteering wheel movement, then system does not do crosswise joint, only does longitudinally controlled speed limit.It is not adopted in response to system monitoring to this vehicle driverTake any adapter tube to act, then carried out by radar control processor it is curved longitudinally controlled, and by the excessively curved speed of calculated vehicleIt is sent to camera control processor, camera control processor determines the excessively curved vehicle velocity V whether in excessively curved maximum speed limitationIn range, if excessively curved vehicle velocity V was less than curved maximum speed limitation range, camera control processor according to bend curvature k andThe excessively curved vehicle velocity V of this vehicle calculated curved torque value F and exported electron servo steering system, carried out corresponding course changing control, turnedTo distance dis > preset threshold (given threshold can demarcate) of this vehicle apart from lane edge is guaranteed in the process, to guarantee that vehicle beginsFinal position is in lane and can passing through bend.

Turn to adapter tube prompt: if camera control processor determined curved speed it is excessively high be more than that curved maximum speed limitsRange, then carry out longitudinally controlled in the limitation range of curved maximum speed excessively, while exporting corresponding prompt information to instrument, promptsDriver's adapter tube vehicle carries out course changing control.

In the present embodiment, the method for calculating curved torque value F is；

Due to F=b*m*a (formula four)；

A=k*V²(formula five)；

So can be obtained according to formula four and formula five: F=b*m*k*V²；

Wherein, F indicated that curved torque value, b were Environmental Factors (including such as traction, bend lane line)；mFor complete vehicle quality, k is bend curvature, is detected and is provided by forward sight camera front end detecting module, and a indicates that instantaneous acceleration, V are thisThe excessively curved speed of vehicle.

In the present embodiment, a is calculated by excessively curved speed V and bend curvature k, a_xFor the longitudinal acceleration of a, a_yFor a'sTransverse acceleration.

A kind of computer readable storage medium of the present invention, the computer-readable recording medium storage have one orThe multiple programs of person, one or more of programs can be executed by one or more processor, to realize as described in inventionSelf-adaption cruise system excessively curved control method the step of.

Claims (6)

1. a kind of excessively curved control method of self-adaption cruise system, it is characterised in that: the following steps are included:

Target acquisition and screening:

During passing through bend, when judging whether the front truck of this vehicle tracking is always held at this vehicle within sweep of the eye, if so,Determine that this vehicle does not switch front follow the bus target；If it is not, then detecting side lane, whether there is or not fresh targets；If not detecting fresh target,Determine front without available follow the bus target；If detecting fresh target, judge whether the fresh target can be as new follow the bus target；

Cross curved longitudinal speed control:

This vehicle is always held within sweep of the eye in response to the front truck of this vehicle tracking, then controls this vehicle with excessively curved vehicle velocity V=Min(the preceding vehicle speed of tracking, bend speed limit value, this vehicle setting cruise speed) follows the excessively curved traveling of front truck；

In response to this vehicle tracking front truck outside the field range of this vehicle, and it is unidentified arrive new follow the bus target, then control this vehicleWith curved vehicle velocity V=Min excessively, (this vehicle instantaneous velocity when front truck disappears, bend speed limit value, most greater than curved velocity amplitude, Ben Che is set this vehicleSurely cruise speed) excessively curved traveling；

In response to the tracking of this vehicle front truck outside the field range of this vehicle, and recognize new follow the bus target, then control this vehicle withCrossing curved vehicle velocity V=Min, (this vehicle instantaneous velocity, bend speed limit value are newly identified as follow the bus target vehicle speed value, this vehicle when front truck disappearsMost greater than curved velocity amplitude, this vehicle setting cruise speed) to follow new follow the bus target line to cross curved；

Cornering steering control:

In response to monitoring that this vehicle driver does not take any adapter tube to act, determine the excessively curved speed of this vehicle whether in excessively curved maximumWithin the scope of rate limitation, the excessively curved speed of Ruo Benche was less than curved maximum speed limitation, then according to the mistake of bend curvature and Ben CheCurved speed calculated curved torque value and exported electron servo steering system, carries out corresponding course changing control, protects in steering procedureDistance dis > preset threshold of this vehicle apart from lane edge is demonstrate,proved, to guarantee that vehicle is always positioned in lane.

2. the excessively curved control method of self-adaption cruise system according to claim 1, it is characterised in that: before the tracking of this vehicleOutside the field range of Che Ben vehicle, and side lane is detected when having fresh target, get parms d_yc, d and θ, in which: d_ycIt is newOffset distance of the target relative to vehicle central axes；D is the actual range of Ben Che and fresh target；θ is fresh target relative to vehicleThe deflecting angle of central axes；

And according to parameter d_yc, d and θ calculate d_y, wherein d_yFor the prediction of this vehicle geometric locus and the fresh target that is actually detected itBetween lateral deviating distance；

If a fresh target is only detected, by d_yIt is compared with threshold value Th, if d_y< Th then determines that fresh target can selectedIn follow the bus object range, and as new follow the bus target, if d_y>=Th then determines that front without available follow the bus target, i.e., is not knownIt is clipped to new follow the bus target；

If detecting multiple fresh targets simultaneously, the smallest d is taken_yValue is compared with threshold value Th, if d_y< Th then determines the smallestd_yThe corresponding fresh target of value is new follow the bus target, if d_y>=Th then determines that front without available follow the bus target, that is, recognizesNew follow the bus target.

3. the excessively curved control method of self-adaption cruise system according to claim 2, it is characterised in that: d_yCalculation method such asUnder:

d_y=d_yv+d_yc；

d_yc=d*sin θ；

d_yv=k_y*d²/2；

Wherein, d_yvOffset distance for prediction locus relative to vehicle central axes；k_yIndicate driving trace curvature.

4. the excessively curved control method of self-adaption cruise system according to any one of claims 1 to 3, it is characterised in that: work as front truckThis vehicle instantaneous velocity is greater than this vehicle most greater than curved velocity amplitude when disappearance, then controls the current excessively curved longitudinal acceleration of this vehicle and be less than or equal to0, and this vehicle instantaneous velocity=this vehicle is updated when front truck disappears again most greater than curved velocity amplitude.

5. the excessively curved control method of self-adaption cruise system according to any one of claims 1 to 3, it is characterised in that: further includeBend determines:

Lane information is obtained, determines whether this vehicle has entered bend according to lane information, if entering target acquisition into bendAnd screening.

6. a kind of computer readable storage medium, it is characterised in that: the computer-readable recording medium storage have one orMultiple programs, one or more of programs can be executed by one or more processor, to realize such as claim 1 to 5Any self-adaption cruise system excessively curved control method the step of.