The invention discloses a mode switching method for a commercial vehicle in a self-adaptive cruise scene. The mode switching method comprises the steps that vehicle state parameters are acquired; the state parameters comprise the current vehicle speed Vh; the relative distance dS and the relative speed dV of the front vehicle relative to the vehicle; the front road information determines a key time interval according to the state parameters and normalizes the key time interval; determining a boundary line for distinguishing different modes according to the relative speed of the front vehicle and the time interval parameter; judging to enter a braking mode, a sliding mode, a non-car-following mode or a car-following mode; and outputting a control instruction of the judged mode. According to the method, based on the vehicle speed of the whole vehicle, the distance between the front vehicle and the vehicle and the relative vehicle speed, the boundary is determined in a time interval normalization mode, the speed for solving the optimal solution can be effectively increased by adopting normalized data, the switching logic is clear, and the reliability is high. The division and automatic selection and switching of non-following, following, braking and sliding modes in the self-adaptive cruise scene are realized, the fuel consumption of the vehicle is effectively reduced, and the comfort and safety of vehicle control are ensured.
本发明公开一种商用车自适应巡航场景下的模式切换方法,包括:获取车辆状态参数;状态参数包括:当前车速Vh;前方车辆相对本车的相对距离dS和相对速度dV;前方道路信息根据状态参数确定关键时距并归一化;根据前车相对速度和时距参数确定用于区分不同模式的边界线;判断进入制动模式、滑行模式、非跟车模式或跟车模式;输出所判断模式的控制指令。本发明基于整车提供的本车车速、前车相对本车的距离和相对车速,采用时距归一化的方式确定边界,采用归一化的数据可有效提升求取最优解的速度,切换逻辑清晰,实现自适应巡航场景下非跟车、跟车、制动和滑行模式的划分和自动选择及切换,有效降低车辆油耗,并保证整车控制的舒适性和安全性。
Mode switching method for commercial vehicle in adaptive cruise scene
一种商用车自适应巡航场景下的模式切换法
2023-12-15
Patent
Electronic Resource
Chinese
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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