The invention belongs to the technical field of wheel cruise control, and particularly relates to a vehicle self-adaptive cruise control method based on a camera. A target screening strategy is established, recommended targets in a dangerous area are effectively screened out, a camera capable of processing data is used for obtaining front target information and road information, a dangerous target area is defined, and a target closest to a main vehicle in the dangerous targets in the dangerous target area serves as a recommended target vehicle. The position of a target vehicle is analyzed and calculated through camera output information, a longitudinal control strategy of a decision-making layer is established, hierarchical control is achieved, and redundancy and complexity of a control structure are avoided; the actuator control layer receives a final expected acceleration and deceleration instruction from the decision-making layer, and adjusts and controls vehicle power and a braking system by adopting a dynamic feed-forward and PID control algorithm, so that the motion state of the vehicle is controlled, and the self-adaptive cruise of the vehicle is realized; according to the invention, the camera is used to identify the vehicle target object and the lane line information, and a longitudinal control strategy is combined, so that the working condition that the vehicle follows the vehicle and the side vehicle cuts in can be effectively handled.
本发明属于车轮巡航控制技术领域,具体涉及一种基于摄像头的车辆自适应巡航控制方法;建立目标筛选策略,有效的筛选出危险区域中的推荐目标,利用可处理数据的摄像头获取前方目标信息以及道路信息,界定危险目标区域,将危险目标区域中的危险目标中距离主车最近的目标作为推荐的目标车,利用摄像头输出信息分析和计算目标车位置,建立决策层的纵向控制策略,实现分层控制,避免控制结构的冗余复杂;执行器控制层接收来自决策层的最终期望加减速指令,采用动力学前馈加PID的控制算法对车辆动力以及制动系统进行调节和控制,从而控制车辆的运动状态,实现车辆的自适应巡航;本发明利用摄像头识别车辆目标物以及车道线信息,结合纵向的控制策略,能够有效的应对车辆在跟车中旁车切入的工况。
Camera-based vehicle adaptive cruise control method
一种基于摄像头的车辆自适应巡航控制方法
2024-11-22
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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