Acceleration constraint control algorithm for vehicle cruise control system

A constant-speed cruise and constraint control technology, applied in the field of intelligent vehicle assisted driving, can solve problems such as acceleration constraints, achieve the effects of low fuel consumption, avoid excessive acceleration, and satisfy comfort

CN111231956AActive Publication Date: 2020-06-05JIANGSU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-06-05

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Abstract

The invention discloses an acceleration constraint control algorithm for a vehicle cruise control system, which is used for constraining the acceleration of a cruise control vehicle in the speed switching process from the fuel consumption of the vehicle and the riding comfort of passengers. According to the invention, the asymmetric obstacle Lyapunov function is introduced into the design of the cruise control speed-acceleration controller; the controller controls the wheel torque, the problem that the acceleration degree is too large when the cruise control speed is switched is solved, the proposed algorithm can ensure that the acceleration speed always works in a comfort level area, and the fuel consumption of an automobile is also well improved under the condition that constraint conditions are not violated. In the process, the braking torque and the wheel rotating speed do not shake, and the comfort of the vehicle is further improved.
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Description

technical field

[0001] The invention relates to an intelligent car assisted driving. The control algorithm constrains the acceleration of the vehicle in the speed switching process of the constant speed cruise starting from the fuel consumption of the vehicle and the riding comfort of the passengers. Background technique

[0002] The cruise control system is one of the adaptive cruise control strategies for automobiles. The main vehicle takes the speed set by the ACC system as the target speed and drives quickly after reaching the set speed. It automatically controls the longitudinal movement of the vehicle to reduce the driver's fatigue Labor intensity. If there is no vehicle in front of the main vehicle or the distance to the target vehicle ahead is very fast and the speed is very fast, the control mode selection module will activate the cruise mode control module, and the ACC system will The speed automatically adjusts the accelerator pedal, etc., so that the main vehicl...

Examples

Embodiment Construction

[0058] The present invention will be further described below in conjunction with accompanying drawing.

[0059] The concept of the present invention and the specific working process will be clearly and completely described below with reference to the accompanying drawings and examples. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts all belong to the present invention protected range.

[0060] Such as Figure 1-3 As shown, an acceleration-constrained control algorithm for a vehicle cruise control system consists of a vehicle model, a speed-acceleration model, and an acceleration-constrained controller.

[0061] Firstly, the velocity-acceleration model is established according to the above vehicle model; secondly, the bounds of the acceleration tracking error constraints are calcula...