A vehicle cruise control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a vehicle cruise control method and device, electronic equipment and storage medium, belonging to the technical field of vehicle engineering. Mainly includes: establishing the linear state space equation of the cruise system of the vehicle, the linear state space equation includes state variables and expected control input; according to the linear state space equation, the feedback controller of the cruise system is designed by using the linear quadratic regulator optimal design method and the preset equation; the value of the expected control input is calculated according to the state variables and the expected control input by using the feedback controller; and, the vehicle is cruise controlled according to the value of the expected control input. The present application can avoid the system control deviation caused by the possible error of the dynamic model, and ensure the accuracy of the cruise system control.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle cruise control method, device, electronic device, and storage medium. Background Technology

[0002] To minimize the frequency of road traffic accidents and reduce personal and material losses caused by human error, driving safety systems have emerged. Active safety systems can fundamentally prevent accidents. Unlike traditional cruise control systems that only maintain the vehicle's speed, vehicles equipped with adaptive cruise control can obtain the speed of the vehicle in front in multiple ways and adjust their own speed accordingly. Simultaneously, the safe following distance between the two vehicles adapts to speed changes, thus enabling them to adapt to varying traffic scenarios and conditions.

[0003] Existing adaptive cruise control systems require calculating control inputs based on the system's dynamic model. However, errors in the dynamic model can cause control deviations, resulting in poor control accuracy for the adaptive cruise control system. Summary of the Invention

[0004] This invention provides a vehicle cruise control method, device, electronic device, and storage medium that can iteratively solve for the optimal feedback control gain of the control input without using a dynamic model of the cruise system, simply by using the input and output data of the cruise system. This avoids system control deviations caused by possible errors in the dynamic model and ensures control accuracy.

[0005] In a first aspect, embodiments of the present invention provide a vehicle cruise control method, comprising: establishing a linear state-space equation for a vehicle's cruise system, the linear state-space equation including state variables and desired control input; designing a feedback controller for the cruise system using a linear quadratic regulator optimal design method based on the linear state-space equation; calculating the value of the desired control input using the feedback controller based on the state variables and desired control input; and performing cruise control on the vehicle based on the value of the desired control input; wherein the process of designing the feedback controller for the cruise system using the preset equation includes: iteratively solving the preset equation online using the excitation control input and excitation state variable output obtained from the cruise system of the vehicle to obtain the feedback controller.

[0006] In a second aspect, embodiments of the present invention provide a vehicle cruise control device, comprising: The system comprises several modules: a state space equation establishment module for establishing the linear state space equations of the vehicle's cruise system, including state variables and desired control inputs; a feedback controller design module for designing the feedback controller of the cruise system based on the linear state space equations using the optimal design method of a linear quadratic regulator and the Lyapunov and Riccati equations; a control input value calculation module for calculating the desired control input value using the feedback controller based on the state variables and desired control inputs; and a cruise control module for performing cruise control on the vehicle based on the desired control input value. The process of designing the feedback controller of the cruise system using preset equations includes: iteratively solving the preset equations online using the excitation control inputs and excitation state variable outputs obtained from the excitation of the vehicle's cruise system to obtain the feedback controller.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle cruise control method as described in any of the embodiments of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle cruise control method as described in any of the embodiments of the present invention.

[0009] The present invention provides a vehicle cruise control method, device, electronic device and storage medium that can iteratively solve for the optimal feedback control gain of the control input without using the dynamic model of the cruise system, simply by using the input and output data of the cruise system. This can avoid system control deviations caused by possible errors in the dynamic model and ensure the control accuracy of the cruise system. Attached Figure Description

[0010] Figure 1 This is a schematic flowchart of a vehicle cruise control method provided in an embodiment of the present invention; Figure 2 This is another schematic flowchart of the vehicle cruise control method provided in this embodiment of the invention; Figure 3 This is another schematic flowchart of the vehicle cruise control method provided in this embodiment of the invention; Figure 4 This is another flowchart illustrating the vehicle cruise control method provided in this embodiment of the invention. Figure 5 This is a schematic diagram of a vehicle cruise control system provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0011] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0012] To minimize the frequency of road traffic accidents and reduce personal and material losses caused by human error, driving safety systems have emerged. Active safety systems can fundamentally prevent accidents. Unlike traditional cruise control systems that only maintain the vehicle's speed, vehicles equipped with adaptive cruise control can obtain the speed of the vehicle in front in multiple ways and adjust their own speed accordingly. Simultaneously, the safe following distance between the two vehicles adapts to speed changes, thus enabling them to adapt to varying traffic scenarios and conditions.

[0013] Existing adaptive cruise control systems require calculating control inputs based on the system's dynamic model. However, errors in the dynamic model can cause control deviations, resulting in poor control accuracy for the adaptive cruise control system.

[0014] This invention provides a vehicle cruise control method, device, electronic device, and storage medium that can iteratively solve for the optimal feedback control gain of the control input without using a dynamic model of the cruise system, simply by using the input and output data of the cruise system. This avoids system control deviations caused by possible errors in the dynamic model and ensures control accuracy.

[0015] Figure 1 This is a schematic flowchart illustrating a vehicle cruise control method provided in an embodiment of the present invention. This method can be executed by a vehicle cruise control device provided in this embodiment, which can be implemented using software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer or server. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. (Reference) Figure 1 The method may specifically include the following steps: Step 101: Establish the linear state-space equation of the vehicle's cruise system. The linear state-space equation includes state variables and desired control inputs to establish the linear constraint relationship between the state variables and desired control inputs. Then, based on the state variables and desired control inputs under the linear constraint relationship, the feedback controller of the cruise system is designed using the optimal design method of a linear quadratic regulator.

[0016] Optionally, the aforementioned state variables include the distance difference between the expected and actual distance between the aforementioned vehicle and the preceding vehicle, the speed difference between the preceding vehicle and the aforementioned vehicle, and the acceleration of the preceding vehicle relative to the aforementioned vehicle.

[0017] Optionally, the process of establishing the linear state-space equation of the vehicle's cruise system includes: establishing the linear state-space equation based on a preset fixed headway.

[0018] Preferably, the process of establishing the linear state-space equation of the vehicle's cruise system includes: establishing the linear state-space equation based on a preset fixed headway.

[0019] Specifically, headway distance represents the time difference between the front ends of two vehicles passing the same point, and is generally calculated by dividing the distance between the front ends of the two vehicles by the speed of the following vehicle. Existing cruise control methods often employ a fixed vehicle spacing strategy. When vehicle speed changes, especially at higher speeds, a fixed vehicle spacing poses significant safety risks and may lead to collisions. Therefore, this invention employs a fixed headway distance safety distance strategy, overcoming the limitations of fixed vehicle spacing strategies and enabling adaptive adjustment of the safety distance to changes in driving conditions.

[0020] Specifically, the process of establishing the linear state-space equations of the vehicle's cruise system can include the following steps: Based on the longitudinal dynamics model of the vehicle, let... , , This indicates the aforementioned vehicles Given the position, velocity, and acceleration, the longitudinal vehicle dynamics model can be described as follows: in: For engine input, function and The definition is as follows: in, To track the unknown time delay constant when the desired acceleration is achieved, air density, and These are: cross-sectional area, air drag coefficient, mechanical drag, and vehicle mass.

[0021] To linearize the acceleration equation above, the engine input is defined as follows: For the desired control input, For coefficients greater than 0, substituting them into equation (1) yields: For different vehicles, the unknown time delay constant when tracking the desired acceleration The values ​​may differ.

[0022] The expected vehicle spacing is calculated as follows: in This represents the desired distance between the two vehicles when they both brake to a stop simultaneously. The headway is constant.

[0023] To maintain the stability of the cruise convoy, typically Thus, to obtain the vehicle The actual distance between the vehicle and the vehicle in front is: in, and vehicles That is, the position of the vehicle in front and the length of the vehicle.

[0024] Therefore, the spacing error between the actual spacing and the expected spacing can be calculated. for: The speed difference between the two vehicles can be expressed as: Combining equations (4), (7), and (8), the following linear state-space expression for the cruise system can be obtained: in, Including the distance difference variable, speed difference variable, and acceleration variable between the aforementioned vehicles and the vehicle in front, the coefficient matrix is ​​as follows: It can be seen that, due to the unknown time delay constant when tracking the desired acceleration... The existence of [something] makes it impossible to obtain. and The precise values ​​are insufficient to obtain an accurate vehicle dynamics model, thus rendering conventional model-based control methods, which heavily rely on model accuracy, unsuitable.

[0025] Step 102: Based on the linear state-space equations, the optimal design method of the linear quadratic regulator is adopted to design the feedback controller of the cruise system using the preset equations. In this way, the desired control input value of the vehicle can be calculated based on the feedback controller and the real-time acquired vehicle state variables, thereby performing cruise control of the vehicle.

[0026] Optionally, the aforementioned preset equations may include the Lyapunov equation and the Riccati equation, or other equations applicable to the optimal design method of linear quadratic regulators to obtain the feedback controller.

[0027] Optionally, the process of designing the feedback controller of the cruise system using the linear state-space equations and the optimal design method of a linear quadratic regulator, and utilizing preset equations, includes the following: Figure 2 Shown: 1021. Based on the linear state-space equation, establish a quadratic objective function using the state variables and the desired control input.

[0028] Specifically, regarding the aforementioned cruise system, for the time... state variables The quadratic objective function can be defined as follows: Among them, u i For the desired control input, the weight matrix All are positive definite matrices.

[0029] 1022. Based on Lyapunov stability theory, the control input function of the feedback controller is obtained by using state variables and desired control input. Lyapunov equations are established using the coefficient matrix of the linear state-space equation, the weight matrix of the quadratic objective function, and the feedback gain matrix of the control input function.

[0030] Specifically, the control input function of the above feedback controller can be expressed as: ,in This is the feedback gain matrix of the control input function mentioned above.

[0031] Specifically, if the coefficient matrix of the linear state-space equation Given that, for feedback controller The following Lyapunov equation can be established to solve the problem. Obtain the optimal feedback gain : Among them, , is a positive definite matrix.

[0032] 1023. The Riccati equation is established using the coefficient matrix of the linear state-space equation and the weight matrix of the quadratic objective function.

[0033] Specifically, in equation (13) P i The solution can be found by establishing the following Riccati equation: The expression for the optimal feedback gain can be obtained: and feedback controller It is stable for adaptive cruise control systems.

[0034] 1024. Using the excitation control input and excitation state variable output obtained from the cruise system of the excitation vehicle, the Riccati equation and Lyapunov equation are solved online iteratively to obtain the optimal feedback gain matrix, which minimizes the value of the quadratic objective function calculated based on the optimal feedback matrix.

[0035] Specifically, equation (13) for Since it is nonlinear, it is difficult to solve the equation effectively, especially for multivariable systems. Therefore, the optimal approximate solution can be obtained through iterative algorithms.

[0036] Specifically, the aforementioned feedback gain matrix is ​​the matrix that stabilizes the aforementioned cruise system.

[0037] Specifically, the above iterative solution process includes... as well as Iteration.

[0038] When using existing technologies for iterative solutions, it is first necessary to set... Let be any feedback gain matrix that makes the system stable, and then find the real symmetric positive definite solution of equation (12). Then, according to the expression of the optimal feedback gain Update the feedback gain matrix while ensuring the following properties: It is the Herwitz matrix; ; ; subscript Indicates the number of iterations.

[0039] We can see that this method is based on iterative solutions to the Lyapunov equations. Then update sequentially. This allows the numerical approximation to the unique solution of the nonlinear equation. However, in each iteration, it is necessary to accurately understand the system matrix parameters. and The precise value. And and The precise value is unavailable, so existing technologies can cause control deviations.

[0040] In this embodiment of the invention, the excitation control input and excitation state variable output obtained from the excitation vehicle's cruise system are used to solve the Riccati equation and Lyapunov equation online iteratively, thus ensuring the accuracy of the control.

[0041] Optionally, the process of using the excitation control input and excitation state variable output obtained from the excitation vehicle's cruise system to iteratively solve the Riccati equation and the Lyapunov equation online includes: Based on the linear state-space equations, the Lyapunov equations, and the control input function, the quadratic objective function is minimized and transformed to obtain a transformed equation, which does not include the uncertainty coefficient matrix of the linear state-space equations. The transformed equation is then redescribed using the Kronecker product to obtain an iterative equation. Finally, the iterative equation is used to iteratively solve the Riccati equation and the Lyapunov equation.

[0042] Optionally, the transformed equation of the above quadratic objective function does not include the uncertainty matrix of the linear state-space equation. and .

[0043] Specifically, the above iterative equation can be obtained in the following way: The linear state-space expression (9) of the cruise system is rewritten as: Among them, for Control gain To stabilize control gain make The unique solution to the following Lyapunov equation is: and, Update in the following format: Then, according to equations (14), (15), and (16), equation (11) can be transformed into: By rewriting equation (17) using the Kronecker product and transforming it into vector form, we can obtain: Define the matrix for data processing as follows: Through the transformation of formulas (18)-(23), formula (17) can be rewritten as: The superscript j indicates the number of iterations in solving the Lyapunov equation (15), and It is important to note that the sufficient condition for the above transformation to hold and for the existence of a unique solution is that the matrix... The condition for determining if a column is full rank is given below: Once the data processing matrix satisfies equation (26) above, the unique solution to equation (24) can be obtained. 1025. The feedback controller is obtained based on the optimal feedback gain matrix.

[0044] Specifically, it can be based on the optimal feedback matrix. and control input function Then you can get the feedback controller. .

[0045] Step 103: The feedback controller calculates the value of the desired control input based on the state variables and the desired control input. This provides an accurate desired control input value, which is beneficial for subsequent cruise control of the vehicle based on the desired control input value.

[0046] Optionally, a feedback controller can be used. The operating status of the aforementioned vehicles and the preceding vehicle is obtained based on onboard sensing or communication equipment, and the state variable x is calculated based on the operating status. i The desired control input value u is calculated. i .

[0047] Specifically, the aforementioned vehicle-mounted sensing devices may include vehicle-mounted radar, such as lidar. The aforementioned communication devices may include vehicle-to-vehicle (V2V) communication.

[0048] Optionally, the operating status of the aforementioned vehicle and the preceding vehicle includes the current position, current operating speed, and current operating acceleration of the vehicle and the preceding vehicle.

[0049] Step 104: Perform cruise control on the vehicle based on the desired control input value, enabling precise control of the vehicle based on accurate desired control input values.

[0050] Specifically, the desired control input value can be the acceleration value of the vehicle. By accelerating or decelerating the vehicle based on the acceleration value, the distance between the vehicle and the vehicle in front can be adjusted so that the distance between the two vehicles conforms to a fixed headway, ensuring the safety of the vehicle during operation.

[0051] The vehicle cruise control method provided in this invention can iteratively solve for the optimal feedback control gain of the control input without using the dynamic model of the cruise system during the cruise control process, simply by using the input and output data of the cruise system. This avoids system control deviations caused by possible errors in the dynamic model and ensures the accuracy of control.

[0052] The vehicle cruise control method of the present invention will be further described below.

[0053] In a preferred embodiment of the present invention, the process of using the excitation control input and excitation state variable output obtained from the cruise system of the excitation vehicle to solve the Riccati equation and the Lyapunov equation online iteratively includes: using a fixed-point strategy to solve the Lyapunov equation and the Riccati equation online iteratively using the excitation control input and excitation state variable output obtained from the cruise system of the excitation vehicle.

[0054] Specifically, such as Figure 3 As shown, the process of using the above-mentioned fixed-point strategy (Off-Policy) to iteratively solve the Lyapunov equation and the Riccati equation online using the excitation control input and excitation state variable output obtained from the excitation vehicle's cruise system to obtain the optimal feedback gain matrix can include: Initialization steps: Find To satisfy Let be the Herwitz matrix, and set... .

[0055] Online data collection steps: From Start As the input to the control system, To ensure system stability, the feedback gain matrix, To detect noise, calculate the matrix. Until the rank condition is satisfied, then let .

[0056] Strategy evaluation and improvement steps: According to equation (27) Solve and .

[0057] Iteration steps: Let Repeat the strategy evaluation and improvement steps until the desired results are met. hour ,in For a predefined small threshold, the optimal feedback gain matrix is ​​obtained. .

[0058] Using a fixed-point strategy can effectively reduce the computational burden and obtain the global optimal solution.

[0059] In an optional specific embodiment of the present invention, the process of using the excitation control input and excitation state variable output obtained from the cruise system of the excitation vehicle to solve the Riccati equation and the Lyapunov equation online iteratively includes: using a continuous strategy to solve the Lyapunov equation and the Riccati equation online iteratively using the excitation control input and excitation state variable output obtained from the cruise system of the excitation vehicle.

[0060] Specifically, such as Figure 4 As shown, the process of using an on-policy strategy to iteratively solve the Lyapunov equation and the Riccati equation online using the excitation control input and excitation state variable output obtained from the excitation vehicle's cruise system can include: Initialization steps: Find To satisfy Let be the Herwitz matrix, and let... ,and .

[0061] Online data collection steps: From Begin, As input to the control system, a data processing matrix is ​​constructed. Repeat this process for each row until the rank condition is met. .

[0062] Strategy evaluation and improvement steps: According to formula (27) Solve and .

[0063] Stopping steps: If When, satisfy ,in If a predefined threshold that is sufficiently small and greater than 0 is set, then the input of the probe noise is stopped; otherwise, Repeat the online data collection steps.

[0064] Specifically, continuous learning strategies directly utilize online information for optimization, resulting in a local optimum; while fixed-point learning strategies distinguish between the target policy and the behavioral policy, achieving a global optimum. Furthermore, continuous learning strategies incur a longer learning process, distributing the computational burden across different iteration points; fixed-point learning, on the other hand, can achieve faster learning by fully utilizing online measurements, rather than expending greater computational effort at a single iteration point. Therefore, for adaptive cruise control systems, fixed-point learning strategies are more efficient.

[0065] Figure 5 This is a structural diagram of a vehicle cruise control device provided in an embodiment of the present invention. This device is suitable for executing the vehicle cruise control method provided in an embodiment of the present invention. Figure 5 As shown, the device may specifically include: The space equation establishment module 501 is used to establish the linear state space equation of the vehicle's cruise system. The linear state space equation includes state variables and desired control inputs. The linear constraint relationship between the above state variables and desired control inputs can be established. Then, based on the state variables and desired control inputs under the above linear constraint relationship, the feedback controller of the cruise system is designed using the optimal design method of linear quadratic regulator.

[0066] The feedback controller design module 502 is used to design the feedback controller for the cruise system based on the linear state-space equations, employing the optimal design method for a linear quadratic regulator and utilizing the Lyapunov and Riccati equations. The process of designing the feedback controller for the cruise system using preset equations includes: iteratively solving the preset equations online using the excitation control input and excitation state variable output obtained from the cruise system that excites the vehicle, thereby obtaining the feedback controller. This facilitates the calculation of the desired control input value for the vehicle based on the obtained feedback controller and the real-time acquired vehicle state variables, thus enabling cruise control of the vehicle.

[0067] The control input value calculation module 503 is used to calculate the value of the desired control input based on the state variables and the desired control input using the feedback controller. It can obtain an accurate desired control input value, which is beneficial for subsequent cruise control of the vehicle based on the desired control input value.

[0068] Cruise control module 504 is used to perform cruise control on the vehicle based on the desired control input value, and can perform precise control on the vehicle based on the precise desired control input value.

[0069] The vehicle cruise control device provided in this embodiment of the invention can iteratively solve for the optimal feedback control gain of the control input without using the dynamic model of the cruise system during the cruise control process, simply by using the input and output data of the cruise system. This avoids system control deviations caused by possible errors in the dynamic model and ensures the accuracy of control.

[0070] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0071] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the vehicle cruise control method provided in any of the above embodiments.

[0072] This invention also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle cruise control method provided in any of the above embodiments.

[0073] The following is for reference. Figure 6 It shows a schematic diagram of the structure of a computer system 600 suitable for implementing an electronic device according to embodiments of the present invention. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0074] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0075] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0076] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined above in the system of this invention.

[0077] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0079] The modules and / or units described in the embodiments of the present invention can be implemented in software or hardware. The described modules and / or units can also be housed in a processor; for example, a processor may be described as including a gradient space equation establishment module, a feedback controller design module, a control input value calculation module, and a cruise control module. The names of these modules do not necessarily limit the module itself.

[0080] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist alone and not assembled into the device.

[0081] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle cruise control method, characterized in that, include: Establish the linear state-space equations of the vehicle's cruise system, wherein the linear state-space equations include state variables and desired control inputs; Based on the linear state-space equations, the optimal design method of the linear quadratic regulator is adopted, and the feedback controller of the cruise system is designed using the preset equations. The desired control input value is calculated using the feedback controller based on the state variables; as well as The vehicle is cruise-controlled according to the desired control input value; The process of designing the feedback controller of the cruise system using the preset equations includes: using the excitation control input and excitation state variable output obtained by the cruise system that excites the vehicle to iterate online to solve the preset equations and then obtain the feedback controller; The preset equations include the Lyapunov equation and the Richter equation; The process of designing the feedback controller of the cruise system using the linear state-space equations and the optimal design method of a linear quadratic regulator, and utilizing preset equations, includes: Based on the linear state-space equation, a quadratic objective function is established using the state variables and the desired control input; Based on Lyapunov stability theory, the control input function of the feedback controller is obtained using the state variables and the desired control input, and the Lyapunov equation is established using the coefficient matrix of the linear state-space equation, the weight matrix of the quadratic objective function, and the feedback gain matrix of the control input function. The Riccati equation is established using the coefficient matrix of the linear state-space equation and the weight matrix of the quadratic objective function. Using the excitation control input and excitation state variable output obtained from the vehicle's cruise system, the Riccati equation and the Lyapunov equation are solved iteratively online to obtain the optimal feedback gain matrix, which minimizes the quadratic objective function value calculated based on the optimal feedback matrix; and The feedback controller is obtained based on the optimal feedback gain matrix; The process of using the excitation control input and excitation state variable output obtained from the excitation system that excites the vehicle to iteratively solve the Riccati equation and the Lyapunov equation online includes: Based on the linear state-space equation, the Lyapunov equation, and the control input function, the quadratic objective function is minimized and transformed to obtain a quadratic objective function transformation equation, which does not include the uncertainty coefficient matrix of the linear state-space equation. The quadratic objective function is transformed and re-described using the Kronecker product to obtain the iterative equation; and The iterative equation is used to iteratively solve the Riccati equation and the Lyapunov equation.

2. The vehicle cruise control method according to claim 1, characterized in that, The process of establishing the linear state-space equations for the vehicle's cruise system includes: The linear state-space equation is established based on a preset fixed headway.

3. The vehicle cruise control method according to claim 1, characterized in that, The process of using the excitation control input and excitation state variable output obtained from the cruise system that excites the vehicle to iteratively solve the Lyapunov equation and the Riccati equation online to obtain the optimal feedback gain matrix includes: The Lyapunov equation and the Riccati equation are solved online iteratively using the excitation control input and excitation state variable output obtained from the excitation of the vehicle's cruise system, employing either a fixed-point strategy or a continuous strategy.

4. The vehicle cruise control method according to claim 1, characterized in that, The state variables include: the difference between the expected and actual distance between the vehicle and the vehicle ahead, the speed difference between the vehicle and the vehicle ahead, and the relative acceleration between the vehicle and the vehicle ahead.

5. The vehicle cruise control method according to claim 1, characterized in that, The feedback gain matrix is ​​a matrix that stabilizes the cruise system.

6. A vehicle cruise control device for executing the vehicle cruise control method according to any one of claims 1 to 5, characterized in that, include: space The equation establishment module is used to establish the linear state-space equations of the vehicle's cruise system, which include state variables and desired control inputs. The feedback controller design module is used to design the feedback controller of the cruise system based on the state variables and the desired control input, using the optimal design method of a linear quadratic regulator and the Lyapunov equation and the Richter equation. A control input value calculation module is used to calculate the value of the desired control input using the feedback controller based on the state variable and the desired control input; as well as A cruise control module is used to perform cruise control on the vehicle based on the value of the desired control input. The process of designing the feedback controller of the cruise system using the preset equations includes: using the excitation control input and excitation state variable output obtained by the cruise system that excites the vehicle to iterate online to solve the preset equations and then obtain the feedback controller.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the vehicle cruise control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle cruise control method as described in any one of claims 1 to 5.

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