The invention relates to a self-adaptive cruise system car-following control method and a vehicle, belongs to the technical field of intelligent driving, and aims to solve the problems that two control targets of car-following speed and car-following distance in an existing car-following control strategy are coupled control, and control parameters are difficult to calibrate due to mutual influence. The control modes under the vehicle following working condition are at least divided into a plurality of types according to the vehicle following distance between the vehicle and the front vehicle; in the first mode, when the car following distance is smaller than a set safe car following distance interval, the car is controlled to pull the car following distance open according to a first acceleration obtained by the relative speed of the car and the front car; in the second mode, when the vehicle following distance is within the safe vehicle following distance interval, the vehicle speed is controlled to follow the vehicle speed of the target vehicle; in the third mode, when the vehicle following distance is larger than the set safe vehicle following distance interval, the vehicle is controlled to obtain the accelerated speed according to the relative vehicle speed of the vehicle and the front vehicle to shorten the vehicle following distance, and the problem that in the self-adaptive cruise control strategy technology, the system control difficulty is large is solved.
本发明涉及一种自适应巡航系统跟车控制方法及车辆,属于智能驾驶技术领域,现有的跟车控制策略中跟车速度及跟车距离两个控制目标为耦合控制,因互相影响,控制参数标定困难,本发明通过根据自车与前车之间的跟车距离将跟车工况下的控制模式至少划分为若干种;第一模式下:当跟车距离小于设定的安全跟车距离区间,控制自车根据自车和前车的相对车速得到的第一加速度拉开跟车距离;第二模式下,当跟车距离处于所述安全跟车距离区间,控制自车车速跟随目标车辆车速;第三模式下,当跟车距离大于设定安全跟车距离区间,控制自车根据自车和前车的相对车速得到的加速度缩短跟车距离,解决自适应巡航控制策略技术中系统控制难度大的问题。
Vehicle following control method of self-adaptive cruise system and vehicle
一种自适应巡航系统跟车控制方法及车辆
2024-02-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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