Intelligent vehicle extension game lane keeping adaptive cruise control system and control method in congestion environment

Abstract

The invention provides an intelligent vehicle extension game lane keeping adaptive cruise control system and control method in a congestion environment. The method comprises establishing a lane keeping adaptive cruise control system that comprises a camera, a millimeter-wave radar, a lane keeping controller, and an adaptive cruise controller; enabling the camera to detect a lane line and a front vehicle picture and acquire the position of a front vehicle and the quality of the lane line; when the lane line quality is poor, detecting a feasible region width and a vehicle width in combination with the the millimeter wave radar, and solving the feasible region transverse distance deviation; establishing a vehicle dynamics model and a lane keeping preview deviation model; designing a lane keeping controller which comprises outer ring extension control and inner ring game control to obtain a steering wheel angle and four-wheel torque. The adaptive cruise controller is designed, so that theintelligent vehicle can better perform lane keeping and adaptive cruise control in a congestion environment, and the running stability of the vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of advanced driving assistance for intelligent driving vehicles, and in particular relates to a lane keeping adaptive cruise control system and control method for intelligent vehicles in a congested environment. Background technique [0002] With the rapid progress of intelligent development, the vehicle industry is facing new opportunities and challenges. The vehicle industry is ushering in the era of "new four Transformation" has become an important trend in the development of the vehicle industry and a demand of the times. At present, "intelligent" vehicles have become the main way to improve the competitiveness of the vehicle market, and major vehicle manufacturers are vigorously developing and deploying. SAE divides the intelligence level of vehicles into six levels: L0~L5. At present, the intelligence level of the main mass-produced models is L2 / L2+, which we call Advanced Assisted Driving (ADAS), whi...

AI Technical Summary

Problems solved by technology

However, in the congested environment, especially in China, the road conditions are complex, and the uncertainty of road vehicle movement is relatively large. Often there will be congestion or narrow lanes at traffic light intersections, and vehicles will roll over the lane lines, resulting in incomplete lane lines. In such a congested environment, the lane keeping and adaptive cruise functions based on the lane line congestion environment will be difficult to achieve precise control

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