Fault-tolerant method and device for collaborative adaptive cruise control expected function safety

A technology of adaptive cruise and expected function, applied in the direction of control devices, etc., can solve problems such as robust performance impact, queue collision, etc., to achieve the effect of ensuring correct implementation and robust performance

Pending Publication Date: 2021-11-05
TSINGHUA UNIV
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  • Claims
  • Application Information

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Problems solved by technology

The above factors have a serious impact on the correct implementation and robust perform...

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  • Fault-tolerant method and device for collaborative adaptive cruise control expected function safety
  • Fault-tolerant method and device for collaborative adaptive cruise control expected function safety
  • Fault-tolerant method and device for collaborative adaptive cruise control expected function safety

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Embodiment Construction

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0029] The fault-tolerant method and device for the expected functional safety of cooperative adaptive cruise control proposed according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0030] Firstly, the fault tolerance oriented to the expected functional safety of cooperative adaptive cruise control proposed according to the embodiments of the present invention will be described with reference to the accompanying drawings.

[0031] figure 1 It is a flow chart o...

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Abstract

The invention discloses a fault-tolerant method and device for collaborative adaptive cruise control expected function safety. According to cooperative self-adaptive cruise control output data, control input instruction data with controller parameter nonlinear time-varying perturbation and vehicle-vehicle and vehicle-road cooperative data, radar performance defects, execution control performance defects and matching parts in multi-source unknown external interference in the system are estimated online; according to estimation information and system output information, radar performance defects, execution control performance defects and matching parts in multi-source unknown external interference in the tolerable cooperative adaptive cruise control system are calculated and generated, mismatching parts in the multi-source unknown external interference are suppressed through an H infinity method, and a control input instruction is generated; and the control input instruction is executed, can accelerator pedal opening signal and a brake pedal opening signal are calculated on line, the vehicles in the queue are controlled to track the front vehicle, and system output information of the vehicle end is updated. The method is suitable for reducing unreasonable risks caused by performance defects of the cooperative adaptive cruise function and is used for guaranteeing expected function safety of the function.

Description

technical field [0001] The invention relates to the technical field of intelligent networked vehicles, in particular to a fault-tolerant method and device for cooperative adaptive cruise control with expected functional safety. Background technique [0002] Cooperative Adaptive Cruise Control (CACC) is an ICV technology that is closest to its final form. By extending V2X wireless communication on the traditional adaptive cruise control (Adaptive Cruise Control, ACC), this technology can control vehicles to form a stable queue, thereby achieving the purpose of improving road traffic efficiency, improving traffic congestion and reducing fuel consumption. Typical application of ICV technology in road scenarios. [0003] Cooperative adaptive cruise control relies on complex and uncertain perception, communication and wire-control execution devices on hardware, and corresponding algorithms on software to realize operation in complex and unstructured road environments. These new...

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Application Information

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IPC IPC(8): B60W30/14B60W40/00B60W50/00
CPCB60W30/14B60W40/00B60W50/00B60W2050/0022B60W2050/0028
Inventor 罗禹贡王博钟志华李克强
Owner TSINGHUA UNIV
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