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Two-vehicle cooperative adaptive cruise control method based on online incremental dhp

A technology of adaptive cruise and control methods, which is applied to control devices, vehicle components, input parameters of external conditions, etc., can solve the problems of poor control tracking effect and great influence on vehicle control performance, so as to reduce the influence of human factors and improve tracking. The effect of controlling performance

Active Publication Date: 2020-10-20
NAT UNIV OF DEFENSE TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control tracking effect is poor, and the selection of parameters has a great influence on the vehicle control performance. It is necessary to manually adjust the control parameters to achieve high control accuracy.

Method used

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  • Two-vehicle cooperative adaptive cruise control method based on online incremental dhp
  • Two-vehicle cooperative adaptive cruise control method based on online incremental dhp
  • Two-vehicle cooperative adaptive cruise control method based on online incremental dhp

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Embodiment Construction

[0072] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0073] The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0074] Such as figure 1 As shown, the online incremental DHP-based two-vehicle cooperative adaptive cruise control method provided by the embodiment of the present invention includes the following steps:

[0075] S101: Obtain the expected path and expected turning radius of the current vehicle according to the pose relationship between the front vehicle and the rear vehicle; according to the expected path and expected turning radius of the current vehicle, use the lateral controller t...

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Abstract

The invention belongs to the technical field of vehicle cruise, and discloses a dual vehicle cooperative self-adaptive cruise control based on online incremental DHP. An expected path of a current vehicle tracking a target vehicle is output by using pose information of the target vehicle, and a path tracking task is realized by a side control module. In the longitudinal cooperative control, an acceleration planning module needs to output the expected acceleration of the current vehicle according to the speed, acceleration, expected distance and other information of the target vehicle, and thena longitudinal control module is used for completing the speed tracking task. In the acceleration planning module, how to reasonably output the expected acceleration of the current vehicle based on the relative position, speed and other information of two vehicles is one of the problems to be solved. The dual vehicle cooperative self-adaptive cruise control based on online incremental DHP can learn and optimize the expected acceleration of the current vehicle according to the relative position, speed and other information of the two vehicles, avoids the use of logic rules predefined by humanexperience on the basis of improving the tracking control performance, and reduces the influence of human factors.

Description

technical field [0001] The invention belongs to the technical field of vehicle cruise, and in particular relates to a dual-vehicle cooperative self-adaptive cruise control method based on an online incremental DHP. Background technique [0002] Two-vehicle cooperative adaptive cruise control involves three parts: perception, planning and control. The system uses radar, image and other sensors to obtain information such as the speed, acceleration and distance of the tracking vehicle, and plans the expected acceleration and expected path required to track the target vehicle, and then the control module adjusts the steering wheel, accelerator, and brakes to make the current vehicle track the target vehicle . The cooperative adaptive cruise control of intelligent driving vehicles can be decoupled into two parts: lateral cooperative control and longitudinal cooperative control. [0003] Vehicle longitudinal tracking control can also be called speed tracking control, the purpose...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/14B60W30/16
CPCB60W30/14B60W30/16B60W2520/10B60W2554/801B60W2554/804
Inventor 徐盺黄振华刘大学易梦龙
Owner NAT UNIV OF DEFENSE TECH
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