Single-lane comfortable cruising method and system

Abstract

The present invention discloses a single-lane comfortable cruising method and system, including a navigation system, an adjustable suspension system, an ADAS system, a vehicle body stability system, an electronic steering system, and an engine control system. The ADAS system obtains the road curvature radius, slope, lane speed limit, vehicle speed, and road surface information from the navigation system; identifies the degree of road bumps, sends information to the adjustable suspension system, and controls the height of the vehicle chassis; controls the vehicle speed according to the lane speed limit and the current vehicle speed; controls the vehicle speed and torque according to the road curvature; and controls the vehicle torque and braking according to the road slope. The advantage of the present invention is that it addresses the shortcoming that L2 assisted driving cannot provide a comfortable experience for drivers and passengers under various road conditions, and provides an enhanced assisted driving method strategy. When the vehicle passes through potholes, raised roads, bumpy roads, curves, and restricted sections, the assisted driving system's ability to control the vehicle is enhanced, providing a comfortable driving experience for drivers and passengers.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving research, and in particular to a single-lane comfortable cruising method and system. Background Art

[0002] The L2 assisted driving currently used in vehicles can only achieve single-lane adaptive cruise control, such as following a vehicle, maintaining a constant speed, reducing speed by recognizing speed limit signs through cameras, etc. However, L2 assisted driving, such as ACC (adaptive cruise control) + AEB (emergency braking) + LKA (lane keeping), does not take into account the actual road conditions. When the vehicle encounters bumpy roads, turning sections, uphill and downhill sections, and speed-limited sections, L2 assisted driving will cause great discomfort or danger to the driver and passengers. Summary of the Invention

[0003] An object of the present invention is to provide a single-lane comfortable cruising method, and another object of the present invention is to provide a single-lane comfortable cruising system.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The single-lane comfortable cruising method of the present invention comprises the following steps:

[0006] S1, the ADAS system obtains road curvature radius, slope, lane speed limit, vehicle speed, and road surface information from the vehicle navigation system;

[0007] S2 identifies the degree of road bumps and sends information to the adjustable suspension system to control the height of the vehicle chassis;

[0008] S3, identifying the lane speed limit and controlling the vehicle speed based on the lane speed limit and the current vehicle speed;

[0009] S4, controlling the vehicle speed and torque according to the road curvature;

[0010] S5 controls the vehicle's torque and braking according to the road slope.

[0011] The vehicle encounters other road conditions, such as red roads, intersections, pedestrians, etc., which are the same as the current L2 assisted driving strategy. The difference between this application and the current L2 assisted driving strategy is that it adds assisted driving strategies for bumpy roads, lane speed limits, curved roads, and sloped roads.

[0012] Furthermore, in step S2, when the road surface is bumpy, the adjustable suspension system controls the vehicle chassis to be raised and adjusted to the comfort mode; when the road surface is flat and the current vehicle speed is greater than the established safe speed, the adjustable suspension system controls the vehicle chassis to be lowered and adjusted to the sport mode.

[0013] Furthermore, in step S3, when the lane speed limit is lower than the adaptive cruise speed set by the driver, it is determined that V0T+1 / 2gT 2 +L1 V x * When T is reached, the vehicle is controlled to slow down to a speed less than or equal to the lane speed limit; when the lane speed limit is greater than or equal to the current speed, the vehicle is controlled to travel at the current speed;

[0014] Where V0 is the current vehicle speed; g is the vehicle acceleration; T = (V0-V) / g, is the time it takes to drop to the lane speed limit V; V x is the speed of the rear vehicle; L1 is the set safety distance between the front and rear vehicles.

[0015] Furthermore, in step S4, when m V0² / r+F0≥F, the vehicle is controlled to slow down to the minimum safe speed; where m is the vehicle mass, r is the road curvature radius, F friction is the reference friction for critical slip on the current road provided by the vehicle's ESP system, and F0 is the safe friction for the current road.

[0016] Furthermore, in step S5, when it is determined to be a downhill slope, the vehicle is controlled to reduce torque and / or brake.

[0017] The single-lane comfort cruise system described in the present invention includes a navigation system, an adjustable suspension system, an ADAS system, a body stability system, an electronic steering system, and an engine control system; wherein the navigation system is used to identify and transmit road curvature, slope, lane speed limit, and vehicle speed information; the adjustable suspension system is used to control the adjustment of the vehicle chassis; the ADAS system is equipped with a general L2 assisted driving function and can identify potholes, raised roads, and bumpy roads based on information provided by the navigation system; the body stability system is used to control the adjustment of vehicle braking; the electronic steering system is used to maintain the vehicle in the lateral lane; and the engine control system is used to control the adjustment of vehicle torque.

[0018] The navigation system is connected to the ADAS system, and the ADAS system is connected to the adjustable suspension system, the vehicle body stability system, the electronic steering system, and the engine control system.

[0019] The advantage of the present invention is that it addresses the shortcoming that L2 assisted driving cannot provide drivers and passengers with a comfortable driving experience under various road conditions. It provides an enhanced assisted driving method strategy, inputs road section information in advance, and enhances the assisted driving system's ability to control the vehicle when the vehicle passes through potholes, raised roads, bumpy roads, curves, and restricted sections, providing drivers and passengers with a comfortable driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of the method of the present invention.

[0021] Figure 2 It is a block diagram of the system of the present invention. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0023] like Figure 1 As shown, the single-lane comfortable cruising method of the present invention includes the following steps:

[0024] S1, the camera of the vehicle navigation system can obtain information such as road curvature radius, slope, lane speed limit, vehicle speed, and road surface conditions; after the ADAS system obtains the road curvature radius, slope, lane speed limit, vehicle speed, and road surface information from the vehicle navigation system;

[0025] S2 identifies the degree of road bumps. When the road surface is bumpy and uneven, it sends information to the adjustable suspension system to control the vehicle chassis to be raised and adjusted to comfort mode. When the road surface is flat and the current vehicle speed is greater than the established safe speed, the adjustable suspension system controls the vehicle chassis to be lowered and adjusted to sports mode.

[0026] S3, identify the lane speed limit, when the lane speed limit is lower than the adaptive cruise speed set by the driver, determine V0T+1 / 2gT 2 +L1 V x *T, control the vehicle to slow down to a speed less than or equal to the lane speed limit; judge V0T+1 / 2gT 2 +L1≤V x *T, the vehicle is not allowed to decelerate; when the lane speed limit is greater than or equal to the current speed, the vehicle is controlled to travel at the current speed;

[0027] Where V0 is the current vehicle speed; g is the vehicle acceleration sent to ESP; T = (V0-V) / g, T is the time it takes to drop to the lane speed limit V; V x is the speed of the following vehicle; L1 is the set safety distance between the front and rear vehicles, which is approximately 1m.

[0028] S4: Based on the road curvature, when mV0² / r+F0≥F, the vehicle is actively decelerated to the minimum safe speed; otherwise, no speed reduction or torque reduction is performed. m is the vehicle mass, r is the road curvature radius, F friction is the reference friction for critical slip provided by the vehicle's ESP system, and F0 is the safe friction for the current road.

[0029] S5: Based on the road slope, if it is judged to be downhill, ADAS sends torque reduction information to ESP&ECU to control the vehicle to reduce torque and / or brake to avoid overspeeding; if it is uphill, no action is taken.

[0030] The vehicle encounters other road conditions, such as red roads, intersections, pedestrians, etc., which are the same as the current L2 assisted driving strategy. The difference between this application and the current L2 assisted driving strategy is that it adds assisted driving strategies for bumpy roads, lane speed limits, curved roads, and sloped roads.

[0031] like Figure 2 As shown, the single-lane comfort cruise system of the present invention includes a navigation system, an adjustable suspension system, an ADAS system, a vehicle stability system, an electronic steering system, and an engine control system. The navigation system is connected to the ADAS system, which is in turn connected to the adjustable suspension system, the vehicle stability system, the electronic steering system, and the engine control system. The navigation system is used to identify and transmit road curvature, slope, lane speed limit, and vehicle speed information, and transmits this information to the ADAS system. The ADAS system is equipped with a general L2 assisted driving function and can identify potholes, bumps, and uneven roads based on information provided by the navigation system. Based on the identified road surface information, it sends instructions to an execution unit based on the built-in vehicle assisted driving control strategy, and the execution unit completes the corresponding action. The adjustable suspension system controls the adjustment of the vehicle chassis after receiving information from the ADAS system. When the road surface is bumpy, the vehicle chassis is raised and adjusted to comfort mode. When the road surface is smooth and the current vehicle speed exceeds the critical speed, the vehicle chassis is lowered and adjusted to sport mode. The body stability system is responsible for controlling the adjustment of vehicle braking according to the information of the ADAS system; the electronic steering system is used to keep the vehicle in the lateral lane; and the engine control system is used to control the adjustment of vehicle torque.

Claims

1. A single-lane comfortable cruising method, characterized in that: It includes a navigation system, an adjustable suspension system, an ADAS system, a body stability system, an electronic steering system, and an engine control system. The navigation system is used to identify and transmit road curvature, slope, lane speed limit, and vehicle speed information. The adjustable suspension system is used to control the adjustment of the vehicle chassis. The ADAS system is equipped with a common L2 assisted driving function and can identify potholes, bumps, and uneven roads based on information provided by the navigation system. The body stability system is used to control the adjustment of the vehicle's brakes. The electronic steering system is used to keep the vehicle in the lateral lane. The engine control system is used to control the adjustment of the vehicle's torque. The following steps are involved: S1, the ADAS system obtains road curvature radius, slope, lane speed limit, vehicle speed, and road surface information from the vehicle navigation system; S2, identifies the degree of road bumps and sends information to the adjustable suspension system to control the height of the vehicle chassis; when the road is bumpy, the adjustable suspension system controls the vehicle chassis to rise and adjusts to comfort mode; when the road is flat and the current speed is greater than the established safe speed, the adjustable suspension system controls the vehicle chassis to lower and adjust to sport mode; when the lane speed limit is lower than the adaptive cruise speed set by the driver, it determines V0T+1 / 2gT 2 +L1>V x * When T is reached, the vehicle is controlled to slow down to a speed less than or equal to the lane speed limit; when the lane speed limit is greater than or equal to the current speed, the vehicle is controlled to travel at the current speed; Where V0 is the current vehicle speed; g is the vehicle acceleration; T = (V0-V) / g, is the time it takes to drop to the lane speed limit V; V x is the speed of the rear vehicle; L1 is the set safety distance between the front and rear vehicles; S3, identifying the lane speed limit and controlling the vehicle speed based on the lane speed limit and the current vehicle speed; S4 controls the vehicle's speed and torque based on the road curvature. When mV0² / r+F0 ≥ F, the vehicle is decelerated to the minimum safe speed. m is the vehicle's mass, r is the radius of road curvature, F friction is the reference friction for critical slip on the current road, provided by the vehicle's ESP system, and F0 is the safe friction for the current road. S5 controls the vehicle's torque and braking according to the road slope.

2. The single-lane comfortable cruising system and method according to claim 1, characterized in that: In step S5, when it is determined to be a downhill slope, the vehicle is controlled to reduce torque and / or brake.

3. The single-lane comfortable cruising method according to claim 1, characterized in that: The navigation system is connected to the ADAS system, and the ADAS system is connected to the adjustable suspension system, the vehicle body stability system, the electronic steering system, and the engine control system.

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