The invention provides an intelligent vehicle extension game lane keeping adaptive cruise control system and control method in a congestion environment. The method comprises establishing a lane keeping adaptive cruise control system that comprises a camera, a millimeter-wave radar, a lane keeping controller, and an adaptive cruise controller; enabling the camera to detect a lane line and a front vehicle picture and acquire the position of a front vehicle and the quality of the lane line; when the lane line quality is poor, detecting a feasible region width and a vehicle width in combination with the the millimeter wave radar, and solving the feasible region transverse distance deviation; establishing a vehicle dynamics model and a lane keeping preview deviation model; designing a lane keeping controller which comprises outer ring extension control and inner ring game control to obtain a steering wheel angle and four-wheel torque. The adaptive cruise controller is designed, so that theintelligent vehicle can better perform lane keeping and adaptive cruise control in a congestion environment, and the running stability of the vehicle is improved.

    本发明提供了一种拥堵环境下智能车辆可拓博弈车道保持自适应巡航控制系统与控制方法,建立车道保持自适应巡航控制系统,包括摄像头、毫米波雷达、车道保持控制器和自适应巡航控制器;摄像头检测车道线和前方车辆图片,获取前方车辆位置和车道线品质;车道线品质差时,结合毫米波雷达检测可行区域宽度和本车宽度,求解可行区域横向距离偏差;建立车辆动力学模型和车道保持预瞄偏差模型;设计车道保持控制器包括外环可拓控制和内环博弈控制,得到方向盘转角和四轮力矩;设计自适应巡航控制器,使得智能车辆在拥堵环境下更好的车道保持和自适应巡航控制,并提高车辆运行的稳定性。


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    Title :

    Intelligent vehicle extension game lane keeping adaptive cruise control system and control method in congestion environment


    Additional title:

    一种拥堵环境下智能车辆可拓博弈车道保持自适应巡航控制系统与控制方法


    Contributors:
    CAI YINGFENG (author) / ZANG YONG (author) / SUN XIAOQIANG (author) / CHEN LONG (author) / LIANG JUN (author) / LI YICHENG (author) / LIU QINGCHAO (author)

    Publication date :

    2020-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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