The invention relates to a vehicle self-adaptive cruise control method with a steering collision avoidance function, which comprises the following steps of: constructing a collision avoidance critical longitudinal safety distance model for determining collision avoidance critical longitudinal safety distances corresponding to different front vehicle driving states; obtaining a current actual vehicle distance, comparing the actual vehicle distance with the collision avoidance critical longitudinal safety distance, and if the actual vehicle distance is smaller than the collision avoidance critical longitudinal safety distance, adopting a steering collision avoidance trajectory planning algorithm based on a quintic polynomial, and combining a steering collision avoidance trajectory tracking control method based on MPC to obtain a steering collision avoidance trajectory. Vehicle steering collision avoidance control is realized; and otherwise, realizing vehicle following control based on a vehicle following control method of adaptive adjustment of the performance index weight coefficient of the MPC. Compared with the prior art, the safety, the vehicle following performance, the comfort and the economical efficiency of the vehicle in the vehicle following mode can be dynamically coordinated, and when the vehicle following braking distance is insufficient, the vehicle can be switched to the steering collision avoidance mode in time so as to avoid collision accidents.
本发明涉及一种具有转向避撞功能的车辆自适应巡航控制方法,包括以下步骤:构建避撞临界纵向安全距离模型,用于确定不同前车行驶状态对应的避撞临界纵向安全距离;获取当前实际车间距离,将实际车间距离与避撞临界纵向安全距离进行比较,若实际车间距离小于避撞临界纵向安全距离,则采用基于五次多项式的转向避撞轨迹规划算法,并结合基于MPC的转向避撞轨迹跟踪控制方法,实现车辆转向避撞控制;否则基于MPC的性能指标权重系数自适应调整的跟车控制方法,实现车辆跟车控制。与现有技术相比,本发明能够动态协调车辆在跟车模式下的安全性、跟车性、舒适性和经济性,当跟车制动距离不足时,能够及时切换至转向避撞模式以避免碰撞事故的发生。
Vehicle self-adaptive cruise control method with steering collision avoidance function
一种具有转向避撞功能的车辆自适应巡航控制方法
2025-03-21
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 |
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