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Method for controlling vehicle spacing in self-adapting variable-speed cruise process of vehicle

A control method and self-adaptive technology, applied to other vehicle parameters and other directions, can solve the problems of difficult implementation, complicated online calculation, abstract understanding, etc., and achieve the effect of simple online implementation, few adjustment parameters, and strong practicability.

Active Publication Date: 2017-11-24
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] In order to overcome the deficiencies of the existing vehicle adaptive variable speed cruising process inter-vehicle distance control method of abstract understanding, online calculation complexity and implementation difficulties, the present invention provides a vehicle adaptive variable speed cruising process inter-vehicle distance control that is intuitive to understand, simple in design and easy to implement method

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  • Method for controlling vehicle spacing in self-adapting variable-speed cruise process of vehicle
  • Method for controlling vehicle spacing in self-adapting variable-speed cruise process of vehicle
  • Method for controlling vehicle spacing in self-adapting variable-speed cruise process of vehicle

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Embodiment Construction

[0031] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] refer to Figure 1 ~ Figure 3 , a vehicle adaptive variable speed cruising process inter-vehicle distance control method, the control method includes the following steps:

[0033] 1) Establish a third-order continuous-time dynamics model of the vehicle adaptive variable speed cruise process, see formula (1):

[0034]

[0035] Among them, the variable t represents time; x 1 (t), x 2 (t) and x 3 (t) respectively represent the distance error between the vehicle in front and the vehicle at time t, the relative speed and the acceleration of the vehicle; u(t) represents the command acceleration of the vehicle at time t; w(t) represents the actual speed of the vehicle in front at time t Acceleration; parameters h and σ are headway and time constant respectively; considering model formula (1), define the state column vector x=[x 1 x 2 ...

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Abstract

The invention relates to a method for controlling vehicle spacing in a self-adapting variable-speed cruise process of a vehicle. The method comprises the following steps of in accordance with continuously improved real-time accurate control requirements for the vehicle spacing in the self-adapting variable-speed cruise process of the vehicle, establishing a three-step continuous time dynamic model of the vehicle self-adapting variable-speed cruise process, and introducing an integral action signal relative to a vehicle spacing control error; establishing a four-step state space perturbation expansion mathematical model of the vehicle self-adapting variable-speed cruise process; then calculating the gain vector of a vehicle spacing controller through ordering an lqr function by MatLab to calculate the vehicle spacing control capacity in the self-adapting variable-speed cruise process in a real-time manner, so that the high-rear-time accurate self-adapting variable-speed cruise control of the current vehicle is realized. The method disclosed by the invention has the advantages of being easy to understand, small in the number of set parameters, high in generality, and free from on-line calculation, and the high-rear-time accurate control requirements for the vehicle spacing in the self-adapting variable-speed cruise process of the vehicle are met.

Description

technical field [0001] The invention relates to a method for controlling inter-vehicle distance in a vehicle self-adaptive variable-speed cruising process. Background technique [0002] Vehicle adaptive cruise control uses on-board sensors and functional modules to obtain information about the vehicle and itself, adjusts the acceleration and deceleration of the vehicle itself, and realizes efficient, safe and comfortable driving of the vehicle. It is a basic control method for autonomous vehicles. During the driving process of the vehicle, with the change of the acceleration and deceleration of the vehicle in front, the automatic control of the vehicle and the vehicle in front maintains a certain relative safety distance, which can not only reduce the driver's work intensity, but also increase the traffic flow density of the road and enhance the safety of the vehicle. Active safety while driving. Vehicle adaptive variable speed cruise control is a new auxiliary automatic dr...

Claims

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Application Information

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IPC IPC(8): B60W30/16B60W40/10
CPCB60W30/16B60W40/10B60W2530/00
Inventor 何德峰鲁良叶宋秀兰倪洪杰
Owner ZHEJIANG UNIV OF TECH
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