The invention provides an adaptive cruise control method and system based on a model-free adaptive algorithm, and belongs to the technical field of auxiliary driving. A nonlinear autoregressive moving average model of a vehicle is constructed by acquiring a relative vehicle speed, a relative distance and an acceleration parameter of the vehicle at a previous moment; defining a speed control function in the nonlinear autoregressive moving average model, and designing a controller based on the speed control function, so that the controller can track the target vehicle speed and vehicle distance as soon as possible without overshoot; optimizing the optimal acceleration of the speed control function by using a reset algorithm, and finally obtaining the optimal acceleration through iteration; and the optimal acceleration is used as the input of a controller, the vehicle speed or the vehicle distance at the current moment is output, and self-adaptive cruise control over the vehicle is achieved. According to the method, frequent acceleration and deceleration of the vehicle can be avoided on the basis of reducing the computing power burden of the controller, and meanwhile, the method has the self-adaptive capacity to adapt to different driving environments and the system delay problem.
本发明提出了基于无模型自适应算法的自适应巡航控制方法及系统,属于辅助驾驶技术领域;通过获取车辆前一时刻的相对车速、相对距离以及加速度参数,构建车辆的非线性自回归滑动平均模型;定义非线性自回归滑动平均模型中的速度控制函数,基于速度控制函数设计控制器,使其能够尽快且无超调的跟踪到目标车速和车距;利用重置算法对速度控制函数的最优加速度进行寻优,通过迭代最终得到最优的加速度;利用最优的加速度作为控制器的输入,输出当前时刻的车速或者车距,实现车辆的自适应巡航控制。本发明可以在降低控制器算力负担的基础上避免车辆频繁加减速,同时具有自适应能力去适应不同的驾驶环境及系统延迟问题。
Self-adaptive cruise control method and system based on model-free self-adaptive algorithm
基于无模型自适应算法的自适应巡航控制方法及系统
2025-01-21
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 |
Self-adaptive cruise system and self-adaptive cruise method
European Patent Office | 2022
|