Key target identification method for automobile cruising system

A technology for cruise system and target recognition, applied in the field of dynamic handling and stability control of automobile systems, can solve the problems of confusion of target vehicles, increase in recognition difficulty, loss, etc., and achieve the effect of improving adaptive cruise control system and reducing collision risk.

Inactive Publication Date: 2016-11-16
LIAONING UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, when the position of the self-vehicle in the lane fluctuates, and the vehicle ahead also fluctuates accordingly, the difficulty of pre-accurately identifying key tar

Method used

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  • Key target identification method for automobile cruising system
  • Key target identification method for automobile cruising system
  • Key target identification method for automobile cruising system

Examples

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Effect test

Embodiment 1

[0058] The present invention provides a method for identifying a key target of an automobile cruise system, comprising: making a pre-lane change judgment on the vehicle in front, if there is no pre-lane change vehicle in the vehicle in front, the key target is the vehicle in front of the lane, If there is a pre-lane-changing vehicle, the key target is the vehicle with the closest longitudinal relative distance between the pre-lane-changing vehicle and the vehicles in front of the lane.

[0059] When a car is driving on a straight road, there are mainly two situations. One is that if the vehicles in front of the cruising vehicle (known as the own car) all run in their respective lanes and there is no pre-lane-changing vehicle, the key target is the vehicle in front of the own lane. The second is that vehicles in the adjacent lane ahead have a tendency to change into this lane, then the key target should be generated from multiple target vehicles that are pre-changing lanes and t...

Embodiment 2

[0076] The present invention provides a method for identifying key targets of an automobile cruise system, including: judging whether the vehicle in the curve ahead is located in the lane of the vehicle, and when there is only one vehicle in the curve ahead located in the lane of the vehicle, the The target vehicle is the vehicle, and when more than one vehicle in the curve ahead is located in the lane of the own vehicle, the target vehicle is the vehicle with the closest longitudinal distance to the own vehicle;

[0077] Among them, according to the lateral distance d of the target vehicle relative to the lane center of the own vehicle off_i , to determine whether the target vehicle is located in the lane of the vehicle, the judgment basis is as follows:

[0078] if d off_i >0 and |d off_i |>d th , then: the target vehicle is located in the left lane of the vehicle;

[0079] if d off_i off_i |>d th , then: the target vehicle is in the right lane of the vehicle;

[0080...

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Abstract

The invention discloses a key target identification method for an automobile cruising system. Based on the fuzzy control theory, a multi-target automobile lane changing fuzzy logic controller is designed, a dangerous lane changing automobile is prejudged, and effective identification of a straight lane key target is determined. The tilting motion influence of automobile bend running is considered, an extension Kalman filtering on-line real-time estimation of an automobile mass center side slip angle and a road curvature is achieved, the bend key target identification method is provided, a key target judgment basis is given, and effective identification of the bend key target is achieved.

Description

technical field [0001] The invention relates to the field of vehicle system dynamics handling stability control, in particular to a key target identification method of a vehicle cruise system. Background technique [0002] Automotive adaptive cruise control (ACC) mainly relies on radar or laser sensors as information input, which can automatically adjust the speed of the cruising vehicle and maintain a safe distance from the vehicle in front of it. To a certain extent, the system achieves the purpose of following the car safely and greatly reduces the traffic accident rate. However, the system still has the possibility of colliding with the vehicle in front. For example, the system cannot make predictions in advance for dangerous vehicles in adjacent lanes that merge into or suddenly break into this lane, and still follow the original target of this lane, there is bound to be a risk of collision between the cruiser and the merged vehicle . Especially for the urban road dr...

Claims

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Application Information

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IPC IPC(8): B60W30/165B60W30/095B60W40/04B60W50/00
CPCB60W30/0953B60W30/165B60W40/04B60W50/00B60W2050/0043B60W2050/0052B60W2554/80B60W2554/801
Inventor 陈学文刘艳军张进国刘伟川郑鑫洋郭昊
Owner LIAONING UNIVERSITY OF TECHNOLOGY
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