Self-adaptive cruise method based on pavement adhesion coefficient recognition

A road adhesion coefficient, adaptive cruise technology, applied in the field of unmanned driving, can solve the problem of not considering road conditions, etc., to achieve the effect of efficient traffic capacity, avoid traffic accidents, and avoid collision between two vehicles

Inactive Publication Date: 2019-11-19
WUHAN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

A variety of new algorithms for maintaining a safe distance have been proposed in the prior art, but these algorithms do not consider the condition of the road surface

Method used

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  • Self-adaptive cruise method based on pavement adhesion coefficient recognition
  • Self-adaptive cruise method based on pavement adhesion coefficient recognition
  • Self-adaptive cruise method based on pavement adhesion coefficient recognition

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Embodiment Construction

[0026] In order to better explain the present invention and facilitate understanding, the following describes the present invention in detail through specific embodiments in conjunction with the accompanying drawings.

[0027] Such as figure 1 As shown, the present invention provides an adaptive cruise method based on road adhesion coefficient recognition, and the method includes the following steps:

[0028] 1) The camera takes pictures of the road in front of the vehicle, and obtains the road adhesion coefficient μ of the current driving road according to the road adhesion coefficient prediction neural network model;

[0029] 2) The vehicle-mounted radar measures the distance S and the speed of the preceding vehicle v 1 , According to the vehicle speed v 2 , The distance between the vehicle and the vehicle ahead S, the vehicle speed in front v 1 , Respectively calculate the theoretical braking distance X of the two vehicles 1 , X 2 ;

[0030] 3) Assuming that the minimum distance to...

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Abstract

The invention relates to a self-adaptive cruise method based on pavement adhesion coefficient recognition. The method comprises the following steps that 1), a camera shoots a road picture in front ofthe vehicle, and the pavement adhesion coefficient mu of the current running road surface is obtained according to a prediction neural network model; 2), a vehicle-mounted radar is used for measuringthe distance S between the vehicle and the front vehicle and the vehicle speed v1 of the front vehicle, and the theoretical braking distances X1 and X2 of the two vehicles are calculated according tothe vehicle speed v2, S and v1; and 3), the minimum distance for preventing rear-end collision is assumed as the minimum safety distance X during emergency braking of the current vehicle, X is calculated according to X1, X2 and S0, wherein S0 is a distance margin, comparing X and S, when S is larger than X, the vehicle is in a safe state, the vehicle is accelerated to a set vehicle speed or keepsa set vehicle speed, and when S is less than or equal to X, the vehicle is in a dangerous state, and the vehicle is reduced to the state of S is larger than X. The self-adaptive cruise method can be applied to auxiliary driving and can automatically adjust the distance between vehicles so as to protect the vehicle to be in the safe state.

Description

Technical field [0001] The invention relates to the field of unmanned driving technology, and more specifically, to an adaptive cruise method based on road adhesion coefficient recognition. Background technique [0002] With the rapid rise of driverless technology, driverless assistance systems have also begun to be applied in some vehicles. Among them, the adaptive cruise control (Adaptive Cruise Control, abbreviated ACC) can realize adaptive cruise under certain road conditions, to a certain extent, reduce the tedious steps of the driver to repeatedly adjust the cruise speed. The adaptive cruise system mainly includes the adaptive cruise distance sensor, the adaptive cruise control system controller, the engine management controller, the electronic throttle actuator, the brake actuator, etc. The ACC measures the driving state and following the car through the distance sensor Distance, adjust the distance to the vehicle in front through the electronic throttle actuator and brak...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/14B60W40/064
CPCB60W30/14B60W40/064B60W2520/10
Inventor 王志红吴鹏辉严浩王少博
Owner WUHAN UNIV OF TECH
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