Adaptive cruise system with stability active control and adaptive cruise control method with stability active control

Abstract

The invention discloses an adaptive cruise system with stability active control and an adaptive cruise control method with stability active control, and relates to the technical field of automobile control. The adaptive cruise system comprises a road information and navigation module, a millimeter wave radar module, a road surface adhesion coefficient estimation module, a minimum safe vehicle following distance module, a curve highest vehicle-speed calculation module, an ESC module and a vehicle-speed adaptive control algorithm module. At the same time, the invention relates to a control method based on the adaptive cruise system with stability active control. When the vehicle drives in a curve, the adaptive cruise control should not only meet the longitudinal tracking performance of the vehicle, but also consider the active control of lateral stability as one of the influencing factors of speed control so as to minimize the passive control of an ESC system on stability, improve the safety of steering driving and reduce energy consumption. Based on vehicle dynamics, the control method takes into account the axle load transfer and road surface adhesion state when the vehicle entersthe curve and provides theoretical calculation basis for the calculation of the minimum safe distance and safe speed during driving in the curve and following the vehicle.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to an adaptive cruise system with active stability control and a control method. Background technique [0002] Adaptive Cruise Control System (ACC, Adaptive Cruise Control System), as an important part of the advanced assisted driving system of automobiles, has begun to be assembled on various mid-to-high-end models. However, most ACC systems are only improved on the algorithm of vehicle distance. For some special scenarios, such as curves or rough road sections, the complexity of working conditions and the accuracy of millimeter-wave radar vehicle recognition in these special road conditions Due to the low accuracy and other reasons, the adaptability and control effect of the ACC system to these complex working conditions are not ideal, which greatly limits its use in such working conditions. [0003] Moreover, at present, the following distance of most ACCs is set by t...

AI Technical Summary

Problems solved by technology

However, most ACC systems are only improved on the algorithm of vehicle distance. For some special scenarios, such as curves or rough roads, the complexity of the working conditions and the millimeter-wave radar can accurately identify vehicles in these special road conditions. Due to reasons such as low accuracy, the adaptability and control effect of the ACC system to these complex working conditions is not ideal, which greatly limits its use in such working conditions

[0003] Moreover, at present, the following distance of most ACCs is set by the driver, which is usually divided into a limited number of speed characteristic categories, and the minimum safe distance cannot be automatically adjusted according to the road adhesion

In order to ensure tracking, the driver sometimes sets the following distance to be smaller, but in the case of low adhesion coefficient, the smaller distance between vehicles is likely to cause safety hazards due to the longer braking distance

For example, when the road surface is wet and slippery in rainy and snowy weather, the minimum safe distance between cars is definitely different from that on dry asphalt roads. Therefore, the fixed safe distance between traditional ACCs is not ideal for complex working conditions.

At the same time, ACC is mostly based on the control of longitudinal vehicle speed by setting the following distance, without considering the influence of lateral stability on longitudinal vehicle speed

[0004] To sum up, the prior art lacks a cruising method that can adapt to complex vehicle conditions and take into account various conditions such as lateral stability and different safe vehicle distances.

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