A method for adaptive cruise control of electric vehicles

A technology of adaptive cruise and control method, which is applied in the direction of electric vehicles, control drives, control devices, etc., can solve the problems of reduced mechanical life, reduced ride comfort, increased energy consumption, etc., to reduce the switching frequency of drive and brake, control The effect of clarifying the goal and improving comfort

Active Publication Date: 2022-01-28
JILIN UNIV
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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.

Method used

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  • A method for adaptive cruise control of electric vehicles
  • A method for adaptive cruise control of electric vehicles
  • A method for adaptive cruise control of electric vehicles

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Embodiment Construction

[0086] The technical solution of the present invention will be further elaborated below in conjunction with the accompanying drawings.

[0087] combine figure 1 , the invention provides a method for adaptive cruise control of an electric vehicle, the steps of which are:

[0088] Step 1: Estimating the sliding acceleration by using the recursive least squares algorithm with multiple forgetting factors. The specific steps of coasting acceleration estimation are as follows:

[0089] 1) Establish a mathematical model for coasting acceleration estimation

[0090] According to the vehicle driving equation, a mathematical model for estimating the sliding acceleration can be established, as shown in the following formula:

[0091]

[0092] In the formula: m is the mass of the vehicle; f is the coefficient of rolling resistance; β is the slope of the road; ρ is the air density; C d is the air resistance coefficient; S is the vehicle frontal area; v h is the vehicle speed; v wi...

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Abstract

The invention discloses an adaptive cruise control method for an electric vehicle, which comprises the following steps: estimating the sliding acceleration by adopting a recursive least squares algorithm with multiple forgetting factors; establishing a motion state prediction model of the vehicle in front and the vehicle; The sliding acceleration and the two-vehicle motion state prediction model established in step 2 are used to design the upper controller for adaptive cruise; the lower controller for adaptive cruise is designed according to the inverse longitudinal dynamics model of the vehicle. The present invention estimates the sliding acceleration online through the multi-forgetting factor recursive least squares algorithm, and introduces the estimated sliding acceleration into the upper-layer controller established based on the model predictive control theory, while satisfying the vehicle followability, safety and economy, Taking the minimum acceleration fluctuation and driving-braking switching frequency as the comfort target can significantly reduce the driving-braking switching frequency in the process of adaptive cruise control and improve the vehicle comfort.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/16B60W50/00B60L15/20
CPCB60W30/16B60W50/00B60L15/20B60L15/2009B60L2240/423B60W2050/0034Y02T10/72
Inventor 初亮许炎武赵迪王引航王嘉伟常城李世博
Owner JILIN UNIV
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