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A Vehicle Adaptive Cruise Control Method Considering Multiple Objectives

A technology of adaptive cruise and control method, which is applied in the field of vehicle adaptive cruise control considering multi-objectives, can solve the problems that the comfort cannot be effectively guaranteed, passengers refuse to use it, etc., and achieve improved robustness and reliability, effective Facilitate transplantation, control targeted effects

Active Publication Date: 2018-06-26
JILIN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

First of all, according to the 2008 US National Highway Traffic Safety Administration (NHTSA) investigation report on automobile ACC systems, comfort is one of the performances that drivers are most concerned about, because the lack of effective guarantee of comfort will directly lead to passengers refusing to use ACC systems

Method used

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  • A Vehicle Adaptive Cruise Control Method Considering Multiple Objectives
  • A Vehicle Adaptive Cruise Control Method Considering Multiple Objectives
  • A Vehicle Adaptive Cruise Control Method Considering Multiple Objectives

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Embodiment Construction

[0025] Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing:

[0026] The invention provides a vehicle adaptive cruise control method considering multi-objectives, the method comprises the following steps:

[0027] Step 1. Establish the mutual longitudinal kinematics model of the two vehicles, such as figure 2 shown.

[0028] According to the kinematic relationship satisfied by the front and rear vehicles during driving, the following equation can be obtained:

[0029]

[0030] Among them, v(k) represents the longitudinal speed of the vehicle at time k, unit m / s; a l (k), a f (k) is the acceleration information of the front and rear vehicles at time k, unit m / s 2 ; v ref (k) represents the relative speed of the two vehicles at time k, unit m / s, satisfying v ref (k)=v l (k)-v(k), v l (k) is the longitudinal velocity of the preceding vehicle at time k, unit m / s; Δx(k) is the distance between two vehicles at time ...

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Abstract

The invention discloses an automotive adaptive cruise control method taking multiple targets into consideration. A layer control strategy is utilized, upper layer control can decide an expected longitudinal acceleration according to a target vehicle and a current state of a controlled vehicle, and lower layer control can track the expected longitudinal acceleration through a reverse recursion method. The automotive adaptive cruise control method comprises the following steps: a mutual longitudinal dynamitic model between two vehicles is established, a design model predicating controller can obtain the expected distance between two vehicles according to a constant time headway strategy, a model prediction control algorithm is utilized to decide an expected longitudinal acceleration for tracking the expected distance between the two vehicles, vehicle control work conditions are divided into a driving work condition and a braking work condition, reverse longitudinal dynamic models for the two work conditions are established respectively according to a vehicle driving equation, an expected throttle percentage is obtained according to the vehicle reverse longitudinal dynamic model and the expected acceleration in the driving work condition, and an expected brake pedal openness is obtained according to the expected acceleration in the braking work condition.

Description

technical field [0001] The invention relates to a vehicle adaptive cruise control method, in particular to a vehicle adaptive cruise control method considering multiple targets. Background technique [0002] The adaptive cruise control (ACC) system is evolved from the traditional cruise control system combined with the safety distance keeping system. The radar sensor located at the front of the vehicle body detects whether there is a vehicle in front within the visible range of the radar. When there is no vehicle in front of the road, the ACC vehicle will drive at a preset speed. Once the vehicle sensor detects that there is a vehicle ahead, The ACC system adjusts the speed of the vehicle to ensure a safe following distance from the vehicle in front. The purpose of the system design is to reduce traffic accidents caused by driver's wrong operation, improve driving safety, ride comfort, etc. [0003] At present, the design of ACC system mainly considers the two goals of saf...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/16B60W40/105B60W40/107B60W40/00B60W10/06B60W10/18
CPCB60W10/06B60W10/18B60W30/16B60W40/00B60W40/105B60W40/107B60W2520/10B60W2554/801B60W2710/0605B60W2710/18B60W2720/10B60W2754/30
Inventor 曲婷王秋麻颖俊陈虹
Owner JILIN UNIV
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