Traffic jam auxiliary control method and system

Abstract

The invention discloses a traffic jam auxiliary control method, and the method comprises the steps: carrying out lateral control and longitudinal control of a vehicle when the function of a traffic jam auxiliary system is activated; during transverse control, when a lane line exists, controlling a vehicle to run in the middle according to the lane line detected by a vehicle sensor, and when no lane line exists or the lane line is not clear, controlling the vehicle to transversely deviate along with a front vehicle; during longitudinal control, calculating the target vehicle speed of the vehicle according to front vehicle data, carrying out coupling speed limiting control on the target vehicle speed in combination with the road curvature information, the current steering wheel angle and thetarget steering wheel angle obtained through transverse control, controlling the target vehicle speed, and obtaining an expected vehicle acceleration. The vehicle is automatically controlled to carryout acceleration, deceleration, steering and other operations according to environmental perception, transverse and longitudinal coupling control is carried out on the vehicle, the safety and stability of the vehicle during high vehicle speed or curve control are guaranteed, the vehicle can still run along with a front vehicle when a lane line is not clear, and TJA function application scenes aregreatly increased.

Description

technical field [0001] The invention belongs to the technical field of automobile driving assistance, and in particular relates to a traffic jam auxiliary control method and system. Background technique [0002] With the rapid development of technology and the continuous maturity of technology, cars are becoming more and more intelligent. In traffic jam conditions, drivers need to frequently step on the accelerator, brake, and shift a series of operations, which can easily cause driving fatigue. In order to alleviate the driver's fatigue in such an environment, ensure driving safety, improve driving comfort and traffic operation efficiency, a traffic jam assist system, namely TJA (Traffic Jam Assist), has been developed. [0003] The patent with the notification number CN 106218636 A discloses a traffic jam assist system. The traffic jam assist system integrates the adaptive cruise system ACC and the full-speed lane keeping assist system to realize the longitudinal and late...

AI Technical Summary

Problems solved by technology

Its TJA function is just to superimpose adaptive cruise control ACC and lane keeping system LKA together, or just an expanded version of ACC, using ACC for speed control in the longitudinal direction, and LKA control in the lateral direction when there are lane lines, without considering the vehicle Vertical and horizontal control coupling relationship, and in the case of no lane lines, lateral control cannot be performed

Images