Adaptive cruise system

An adaptive cruise and component technology, applied in the field of intelligent driving, can solve problems such as uneven control, affecting driving safety, comfort and energy saving, and no speed planning, etc., to achieve smooth control, improve driving experience, and improve control accuracy Effect

Active Publication Date: 2021-04-13
清华大学苏州汽车研究院(吴江) +1
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Problems solved by technology

[0004] However, the existing adaptive cruise systems all directly calculate the speed control amount through the target vehicle speed and target distance, without continuous speed planning, resulting in unsmooth control and affecting driving safety, comfort and energy saving

Method used

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Embodiment Construction

[0063] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures.

[0064] The main idea of ​​the technical solution of this application:

[0065](1) The existing adaptive cruise system calculates the speed control amount through the target vehicle speed and target distance. There is no continuous speed planning, and the target speed and target distance may be discontinuous, resulting in unsmooth control. The embodiment of the present application is based on The operator splitting quadratic program (OSQP) solver performs the motion planning of the adaptive cruise system, which can...

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Abstract

The embodiment of the invention provides an adaptive cruise system, which comprises a perception prediction assembly, a motion planning assembly and a motion control assembly, and is characterized in that the perception prediction assembly is an upstream assembly of motion planning, the motion planning assembly is a downstream assembly of motion planning, and the perception prediction assembly is used for determining target data in a region of interest of a vehicle; the motion planning assembly is used for planning a motion curve of the vehicle through an operator split quadratic programming OSQP solver according to the target data; and the motion control assembly is used for controlling motion of the vehicle according to the motion curve and a PID controller, smooth control over the motion of the vehicle is achieved, the control precision is improved, the driving safety, comfort and energy saving performance are improved, and the driving experience of a user is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of intelligent driving, and in particular to an adaptive cruise system. Background technique [0002] With the development of science and technology, the degree of intelligence of automobiles continues to increase, and self-driving cars are gradually becoming mature. Among them, the driving assistance system has entered the stage of large-scale commercial use. The key issues affecting driving assistance mainly include safety, comfort and energy saving, which largely reflects the level of development of driving assistance. Among them, advanced driver assistance systems such as cruise control, adaptive cruise control, and car-following systems can greatly reduce driver fatigue and improve driving comfort and traffic efficiency. It can significantly reduce the tension and fatigue of the driver, and assist or replace the driver to follow the vehicle in front in the dangerous situatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/14B60W40/00B60W50/00
CPCB60W30/14B60W40/00B60W50/00
Inventor 徐巍王斌韩海兰戴一凡卢贤票张晓莉
Owner 清华大学苏州汽车研究院(吴江)
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