Full-speed-range ACC car following control method and system

Abstract

The invention discloses a full-speed-domain ACC car following control method and system. The method comprises the steps that target car movement information and self-car movement information are obtained; performing acceleration efficiency compensation processing and braking efficiency compensation processing; the actuator responds to time delay processing; calculating the expected acceleration of the vehicle; according to the real vehicle motion state and the engine torque actual response value, the actual acceleration of the vehicle is estimated, and the engine torque feed-forward control quantity, the wheel end torque feed-forward control quantity and the driving and braking response switching characteristic quantity are calculated; the driving mode of the vehicle is judged according to the driving and braking response switching characteristic quantity, and a driving and braking control decision is made; compensating the insufficiency of the wheel end torque feed-forward control quantity of the vehicle according to the difference between the actual acceleration and the expected acceleration of the vehicle estimated at the current moment, and calculating the wheel end torque compensation control quantity; a drive torque control amount and a brake deceleration control amount are output, respectively. According to the method, the vehicle following stability in the full-speed range is improved, particularly, the extremely-low-speed stable vehicle following control effect is improved, and the riding comfort and the driving stability of extremely-low-speed vehicle following under the congestion working condition are improved.

Description

technical field [0001] The invention relates to the field of automobiles, in particular to a method and system for following a car in a full-speed range of an adaptive cruise control system (ACC) of a fuel vehicle. Background technique [0002] In recent years, the installed capacity of adaptive cruise control (ACC) has gradually increased. Its automatic control system can replace the driver to complete the driving and braking of the vehicle, maintain the set cruising speed or stably follow the target vehicle ahead, which greatly liberates the the driver's feet. However, in some specific scenarios, especially in a congested traffic environment for a long time, the fuel vehicle controlled by the existing ACC needs to follow the vehicle in front at a very low speed, which is subject to negative engine torque and frequent driving and braking intervals. Switching and other influences often make it impossible to follow the car very stably, resulting in poor riding comfort and dr...

AI Technical Summary

Problems solved by technology

However, in some specific scenarios, especially in a congested traffic environment for a long time, the fuel vehicle controlled by the existing ACC needs to follow the vehicle in front at a very low speed, which is subject to negative engine torque and frequent driving and braking intervals. Due to the impact of switching, it is often impossible to follow the car very stably, resulting in poor riding comfort and driving stability

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