Self-adaptive cruise control method for electric automobile

Abstract

The invention discloses a self-adaptive cruise control method for an electric automobile. The method comprises the following steps: estimating sliding acceleration by adopting a multi-forgetting-factor recursive least square algorithm; establishing motion state prediction models of the front vehicle and the vehicle; designing an adaptive cruise upper-layer controller based on the sliding acceleration estimated in the step 1 and the two-vehicle motion state prediction model established in the step 2; and designing an adaptive cruise lower-layer controller according to the inverse longitudinal kinetic model of the vehicle. According to the method, the sliding acceleration is estimated online through the multi-forgetting-factor recursive least square algorithm, and the estimated sliding acceleration is introduced into the upper-layer controller established based on the model prediction control theory, so that the vehicle following performance, safety and economy are met; the minimum acceleration fluctuation and the minimum driving and braking switching frequency serve as comfort targets, the driving and braking switching frequency in the self-adaptive cruise control process can be remarkably reduced, and the comfort of the whole vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent driving assistance, and in particular relates to an adaptive cruise control method for an electric vehicle. 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 car body detects whether there is a vehicle ahead within the radar's visible range. When there is no vehicle in front of the road, the ACC system will drive at a preset speed. Once the vehicle sensor detects that there is a vehicle ahead, the ACC system will The system maintains a safe following distance from the vehicle in front by adjusting the speed of the vehicle. 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 the ACC system of electric ...

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Problems solved by technology

[0003] At present, the design of the ACC system of electric vehicles is mainly optimized for the three goals of safety, economy, and car following. There are few studies on comfort, especially without considering a series of problems caused by frequent switching between driving and braking, such as Reduced ride comfort, increased energy consumption, and reduced mechanical life, etc.

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