Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A vehicle multi-objective coordinated lane change assist adaptive cruise control method

A technology of adaptive cruise and control methods, which is applied to control devices, vehicle components, input parameters of external conditions, etc., and can solve problems such as large differences in system structure and control algorithm, difficulty in ensuring lane-changing safety, and inability to identify lane-changing intentions.

Active Publication Date: 2016-02-24
TSINGHUA UNIV
View PDF4 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the research on the existing ACC system is mainly carried out based on straight-line driving. Under lane-changing driving, the existing ACC system shows certain limitations, and even interferes with the normal driving of the vehicle.
For example, when the driver performs a lane change under the condition of approaching the vehicle in front, the conventional ACC system cannot recognize the lane change intention and continues to follow the vehicle ahead in the original lane, thereby interfering with the driver's lane change behavior and increasing the driver's concern about the lane change. System Intervention Frequency
[0003] In the process of lane changing, there are multi-objective coordination optimization problems in three aspects: the tracking performance between the self-vehicle and the two vehicles in front, the safety between the self-vehicle and the surrounding vehicles, and the driver's longitudinal comfort. The existing ACC cannot To meet this requirement, the tracking problem is reflected in: before the start of the lane change, the follow-up target of the conventional ACC is the vehicle in front of the original lane; The driver’s intention to change lanes causes obstacles; during the cross-lane process, the conventional ACC suddenly changes the following target, which not only causes a sudden change in the expected acceleration, but also makes the driver feel uncomfortable; The following control of the car in front of the lane requires a long time to adjust the following relationship with the car in front of the target lane
The safety problem is reflected in: during the lane changing process, the state fluctuation of the lane changing vehicle itself will cause certain interference to the front and rear vehicles in the original lane and the target lane, which may cause rear-end collision accidents
The comfort problem is reflected in: when the absolute value of the acceleration output by the ACC is large, the driver will feel uncomfortable
Aiming at the problem that conventional ACC hinders lane changing, some scholars have proposed to add an automatic lane changing function to the conventional ACC system, but automatic lane changing involves lateral dynamics and needs to control the steering wheel, which is quite different from the system structure and control algorithm of ACC; In addition, automatic lane changing only controls a single vehicle to complete the lane changing behavior, and lacks consideration of the movement coordination between the lane changing vehicle and the surrounding vehicles, making it difficult to ensure the safety of lane changing

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A vehicle multi-objective coordinated lane change assist adaptive cruise control method
  • A vehicle multi-objective coordinated lane change assist adaptive cruise control method
  • A vehicle multi-objective coordinated lane change assist adaptive cruise control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0053] Based on the Model Predictive Control (MPC, Model Predictive Control) theory, the present invention proposes a vehicle multi-objective coordinated lane change assist adaptive cruise control method ((LCACC, AdaptiveCruiseControlwithLaneChangeAssist), which uses the longitudinal dynamic model of the lane changing vehicle as the control Object, through the surrounding multi-vehicle information and the driver's expected car-following model, predict the state of the self-vehicle, the state of the surrounding multi-vehicles and the driver's expected car-following state in the future, and adjust the weight of the car following in combination with the state of the self-vehicle and the state of the surrounding multi-vehicles coefficient, establish a comprehensive performance index that takes into account tracking, safety and comfort, and use rolling time...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a vehicle multi-target coordinating lane changing assisting adaptive cruise control method. The method comprises the following steps that 1) LCACC combination property indexes are set according to two-front-vehicle traceability, multi-vehicle movement safety and longitudinal driving comfort requirements, and the LCACC combination property indexes comprise a cost function and I / O constraints; 2) a multi-target coordinating optimal control problem is built, solving is carried out through a rolling time domain optimization algorithm, the optimal control quantity is obtained, and optimal control is achieved. The LCACC cost function is set according to the following steps that a) a traceability cost function is built through a two-norm linear combination of the vehicle distance errors and vehicle speed errors of the own vehicle and two front vehicles; b) a comfort cost function is built by restraining longitudinal acceleration. The LCACC I / O constraints are set according to the steps that a) in the respect of tracking performance, vehicle following error constraints which are used for limiting the vehicle speed errors and the vehicle distance errors and allowed by a driver are obtained through driver experimental data in a statistic mode; b) in the respect of safety performance, the safety distance between the own vehicle and multiple surrounding vehicles is restrained in the view of vehicle following and collision avoidance; c) in the respect of comfort performance, the expected longitudinal acceleration data range is restrained.

Description

technical field [0001] The invention relates to a vehicle longitudinal dynamics control method, in particular to a vehicle multi-objective coordinated lane-changing auxiliary adaptive cruise control method based on model predictive control theory. Background technique [0002] As one of the typical representatives of driver assistance systems (DAS, Driver Assistance Systems), adaptive cruise control system (ACC, Adaptive Cruise Control System) can improve driving safety, improve traffic congestion and relieve driving fatigue, and has been widely recognized and concerned by research institutions and automobile companies . However, the research on the existing ACC system is mainly carried out based on straight-line driving. Under the lane-changing driving, the existing ACC system shows certain limitations, and even interferes with the normal driving of the vehicle. For example, when the driver performs a lane change under the condition of approaching the vehicle in front, the...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/10B60W30/14
CPCB60W30/143B60W40/10B60W2050/0001B60W2520/10B60W2554/801B60W2720/10B60W2754/30
Inventor 党睿娜李升波李克强王建强谢伯元赵树连秦晓辉李晓飞张放丁洁云
Owner TSINGHUA UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products