A method and apparatus for improving adaptive cruise comfort

Abstract

The application provides a method and device for improving the comfort of adaptive cruise control, wherein the method comprises the following steps: starting the adaptive cruise control mode and setting a target speed; according to the situation of the front vehicle on the current road, the adaptive cruise control mode is divided into a constant speed cruise control mode and a following mode; the expected acceleration of the constant speed cruise control mode and the following mode is calculated by using the adaptive cruise control algorithm; a comfort function is added, and the expected acceleration algorithm of the constant speed cruise control mode and the following mode is optimized by the comfort function, so that the comfort of the adaptive cruise control mode is improved. The application optimizes the change of the vehicle acceleration by adding the comfort function in the adaptive cruise control algorithm of the vehicle, so that the vehicle is relatively smooth in the whole speed change process and does not produce a strong jerk, thereby improving the comfort of the vehicle in the adaptive cruise control mode, and the application has the advantages of good safety, high reliability, convenient application process and the like.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a method and apparatus for improving the comfort of adaptive cruise control. Background Technology

[0002] Adaptive cruise control (ACC) is a new generation of driver assistance system developed from traditional cruise control systems. It integrates the Cruise Control System (CCS) and the Front Collision Warning System (FCWS), offering not only all the functions of automatic cruise control but also monitoring the road traffic environment ahead using onboard radar and other sensors. This reduces driver workload and significantly improves active safety. As a popular intelligent driving assistance feature, adaptive cruise control plays a crucial role in improving driving safety, traffic flow, fuel economy, and reducing driver fatigue.

[0003] When a driver uses adaptive cruise control on a smooth road, the main factor affecting the perceived comfort of the driver and passengers is the change in vehicle speed. When speed changes, the vehicle vibrates and transmits vibrations through the seats to the driver and passengers. Excessive speed changes can cause discomfort; insufficient speed changes will take longer for the vehicle to reach the target speed set by the adaptive cruise control, increasing the time required to reach the target speed and potentially causing traffic congestion.

[0004] Currently, research and improvements based on adaptive cruise control mainly focus on the safety aspects of autonomous driving, while research and improvements on the comfort aspects of autonomous driving are relatively limited.

[0005] While ensuring safety, how to improve the driving experience to be more comfortable in adaptive cruise mode has become an urgent problem to be solved in this field. Summary of the Invention

[0006] This invention provides a solution to the technical problem of improving the comfort of autonomous driving in adaptive cruise mode.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a method for improving the comfort of adaptive cruise control, comprising:

[0009] S10, activate adaptive cruise control mode and set target speed. Adaptive cruise control mode is divided into cruise control mode and following mode, depending on the current road conditions.

[0010] The S20 uses an adaptive cruise control algorithm to calculate the expected acceleration for cruise control mode and following mode, respectively.

[0011] The S30 incorporates a comfort function, which optimizes the expected acceleration algorithm for both cruise control and following modes, thereby improving comfort in adaptive cruise control mode.

[0012] Preferably, in S20, the calculation of the desired acceleration for cruise control mode and following mode respectively includes:

[0013] The desired acceleration for cruise control mode is calculated using a PID control algorithm.

[0014] The desired acceleration in the following mode is calculated using a linear quadratic optimal solution control algorithm.

[0015] Preferably, the PID control algorithm is used to calculate the desired acceleration in the cruise control mode, and the calculation method is as follows:

[0016]

[0017] Where e(t) is the error between the current vehicle speed and the set vehicle speed, and K p K is a proportional parameter. i K is the integration parameter. d is the differential parameter.

[0018] Preferably, the linear quadratic optimal solution control algorithm is used to calculate the desired acceleration in the following mode, and the calculation method is as follows:

[0019] a des =-k1Δd-k2Δv

[0020] Where Δd is the difference between the desired distance and the actual distance, k1 is the distance parameter, Δv is the difference between the desired speed and the actual speed, and k2 is the speed parameter.

[0021] Preferably, in S30, the desired acceleration algorithm for cruise control mode is optimized using a comfort function, and the calculation method is as follows:

[0022]

[0023] in, T is a comfort function. s Let A be the timer and A be the parameter.

[0024] Preferably, in S30, the desired acceleration algorithm for the following mode is optimized using a comfort function, and the calculation method is as follows:

[0025]

[0026] in, T is a comfort function. s Let A be the timer and A be the parameter.

[0027] Preferably, after S30, it also includes:

[0028] For the S40, a test platform was built. The parameters of the expected acceleration algorithm for cruise control mode and following mode were adjusted and the code was generated through the test platform.

[0029] Preferably, in S40, the construction of the test platform specifically includes:

[0030] The expected acceleration algorithm for cruise control mode and following mode in S30 was built using Simulink.

[0031] Build a vehicle dynamics model using Carsim;

[0032] Use Prescan to create different scenarios for cruise control and following modes.

[0033] Preferably, after S40, it also includes:

[0034] The S50 integrates the generated code into the vehicle's ECU and conducts real-vehicle testing. During the real-vehicle testing, the parameters of the expected acceleration algorithm for cruise control mode and following mode are adjusted again.

[0035] Secondly, the present invention provides a device for improving the comfort of adaptive cruise control, comprising:

[0036] At least one processor; and,

[0037] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor for performing the method for improving adaptive cruise comfort as described in the first aspect.

[0038] In view of the shortcomings of the prior art, the beneficial effects that the present invention can achieve are as follows:

[0039] This invention fully considers the situation of other vehicles on the same road. While ensuring the safety of the vehicle's adaptive cruise control function in different modes, it optimizes the changes in vehicle acceleration by adding a comfort function to the vehicle's adaptive cruise control algorithm. This makes the vehicle's speed change process smoother and avoids strong jerking, thereby improving the comfort of the vehicle in adaptive cruise control mode and increasing consumer acceptance of the vehicle's adaptive cruise control function.

[0040] Furthermore, this invention adjusts the parameters of the optimized adaptive cruise algorithm through simulation and actual testing, resulting in an optimized adaptive cruise algorithm with advantages such as better safety, higher reliability, and better suitability for practical applications. In addition, the parameter adjustment process involves less workload and higher efficiency in parameter calibration, saving a significant amount of time and manpower. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0042] Figure 1 This is a schematic flowchart of a method for improving adaptive cruise comfort provided in Embodiment 1 of the present invention;

[0043] Figure 2 This is a flowchart illustrating a method for improving adaptive cruise comfort provided in Embodiment 2 of the present invention;

[0044] Figure 3 This is a flowchart illustrating a method for improving adaptive cruise comfort provided in Embodiment 3 of the present invention;

[0045] Figure 4 This is a schematic diagram of a method for improving adaptive cruise comfort provided in Embodiment 3 of the present invention;

[0046] Figure 5 This is a schematic diagram of a device structure for improving the comfort of adaptive cruise control, provided in Embodiment 4 of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0048] Example 1:

[0049] To improve the comfort of autonomous driving in adaptive cruise mode, this embodiment 1 provides a method for improving adaptive cruise comfort, such as... Figure 1 The diagram shown is a flowchart illustrating a method for improving adaptive cruise comfort provided in Implementation 1, including:

[0050] S10, activate adaptive cruise control mode and set target speed. Adaptive cruise control mode is divided into cruise control mode and following mode, depending on the vehicles ahead on the road.

[0051] In this step, the target speed refers to the speed at which the driver expects the vehicle to travel in adaptive cruise control mode. To ensure driving safety, the target speed should generally not exceed the speed limit on the road. Depending on the vehicle model and its configuration, the activation of adaptive cruise control mode and the setting of the target speed can be achieved through human-computer interaction, i.e., through the onboard computer input and output devices to effectively realize the dialogue between the person and the vehicle.

[0052] Based on the current road conditions, the adaptive cruise control mode is divided into cruise control mode and following mode. The specific execution process is as follows: it determines whether there are other vehicles traveling within a certain distance in front of the current vehicle in the current lane. If there are no other vehicles traveling in front of the current vehicle, the vehicle automatically enters cruise control mode, accelerates to the target speed set by the driver, and maintains the target speed. If there are other vehicles traveling in front of the current vehicle, the vehicle automatically enters following mode, and controls the accelerator and brake to maintain a suitable safe distance from the vehicle in front based on the relative distance and relative speed between the vehicle and the vehicle in front.

[0053] The S20 uses an adaptive cruise control algorithm to calculate the expected acceleration for both cruise control mode and following mode.

[0054] As one implementation method, in S20, the calculation of the expected acceleration for cruise control mode and following mode respectively includes:

[0055] The desired acceleration for cruise control mode is calculated using a PID control algorithm.

[0056] In this step, the PID control algorithm is a control algorithm that combines proportional (P), integral (I) and derivative (D) components into one, integrated into the PID controller. It has the advantages of simple principle, easy implementation, wide applicability, independent control parameters, and relatively simple parameter selection.

[0057] In specific implementation, the PID control algorithm is used to calculate the desired acceleration in cruise control mode. The calculation method is as follows:

[0058]

[0059] Where e(t) is the error between the current vehicle speed and the set vehicle speed, and K p K is a proportional parameter. i K is the integration parameter. d is the differential parameter.

[0060] The desired acceleration in the following mode is calculated using a linear quadratic optimal solution control algorithm.

[0061] In this step, the optimal control law of acceleration under linear state feedback in the following mode can be obtained through the linear quadratic optimal solution control algorithm, so as to realize the optimal control of acceleration changes in the following mode.

[0062] After the vehicle automatically enters following mode, the first step is to establish the equations of motion based on the vehicle's kinematic model:

[0063]

[0064] in, u = a f w = a p ,

[0065] Where -h is the following distance.

[0066] In specific implementation, based on the established motion equations, the linear quadratic optimal solution control algorithm is used to calculate the desired acceleration in the following mode. The calculation method is as follows:

[0067] a des=-k1Δd-k2Δv

[0068] Where Δd is the difference between the desired distance and the actual distance, k1 is the distance parameter, Δv is the difference between the desired speed and the actual speed, and k2 is the speed parameter.

[0069] In this step, the expected acceleration for cruise control mode is calculated using a PID control algorithm, and the expected acceleration for following mode is calculated using a linear quadratic optimal solution control algorithm. The expected acceleration for cruise control mode and the expected acceleration for following mode can be calculated respectively.

[0070] When the vehicle automatically enters cruise control mode, or when the vehicle automatically enters following mode, if the difference between the vehicle's current speed and the set target speed is relatively large, a relatively large acceleration will be generated. At this time, the impact generated by the acceleration will cause discomfort to the occupants of the vehicle.

[0071] Researchers have found that the aforementioned comfort issues caused by changes in vehicle speed can be mitigated to some extent by adjusting the parameters in the algorithm. For example, adjusting proportional and integral parameters can improve the discomfort. However, both cruise control and following modes require multiple manual calibrations of parameters under different speeds and operating conditions. The calibration process is labor-intensive, inefficient, and time- and manpower-intensive. In some application scenarios, in order to mitigate acceleration impact, the system's response time has even been lengthened, resulting in cruise control accelerating too slowly and thus losing its applicability.

[0072] In order to fully address the comfort issues caused by changes in vehicle speed, it is further necessary to optimize the expected acceleration of the cruise control mode calculated by the PID control algorithm, and the expected acceleration of the following mode calculated by the linear quadratic optimal solution control algorithm.

[0073] The S30 incorporates a comfort function, which optimizes the expected acceleration algorithm for both cruise control and following modes, thereby improving comfort in adaptive cruise control mode.

[0074] When the vehicle automatically enters cruise control mode, based on the algorithm in S20, the desired acceleration algorithm for cruise control mode is optimized in S30 using a comfort function. The calculation method is as follows:

[0075]

[0076] in, T is a comfort function. s Let A be the timer and A be the parameter.

[0077] The comfort function increases from 0 to 1. After adding the comfort function, the acceleration curve will be smoothed. The vehicle will move more smoothly during speed changes without strong jerking. The overall acceleration will show a trend of increasing first and then decreasing, which is consistent with the actual acceleration process of the vehicle.

[0078] Furthermore, in determining K p With K i Then, by adjusting different A values, the maximum acceleration value during the entire cruise process can be changed, which can match different operating habits such as conservative, stable and aggressive.

[0079] Once the vehicle automatically enters following mode, based on the algorithm in S20, the expected acceleration algorithm for following mode is optimized in S30 using a comfort function. The calculation method is as follows:

[0080]

[0081] in, T is a comfort function. s Let A be the timer and A be the parameter.

[0082] Similarly, the comfort function increases from 0 to 1. After adding the comfort function, the acceleration curve will be smoothed out. The vehicle will experience a more gradual change in speed without strong jerking. The overall acceleration will show a trend of increasing first and then decreasing, which is consistent with the actual acceleration process of the vehicle.

[0083] This embodiment 1 provides a method to improve the comfort of adaptive cruise control, offering a solution to the technical problem of how to improve the comfort of autonomous driving in adaptive cruise mode. Under the premise of ensuring the safety of the vehicle's adaptive cruise function, a comfort function is added to the vehicle's adaptive cruise algorithm to optimize the changes in vehicle acceleration, making the vehicle's speed change process (including cruise control mode and following mode) relatively smooth and without strong jerking sensation, thereby improving the comfort of the vehicle in adaptive cruise mode and increasing consumer acceptance of the vehicle's adaptive cruise function.

[0084] Example 2:

[0085] Based on Example 1, to ensure that the desired acceleration algorithms for cruise control mode and following mode optimized by the comfort function are more accurate, reliable, and better suited to practical applications, such as... Figure 2 The diagram shown is a flowchart illustrating a method for improving adaptive cruise comfort provided in implementation 2. Following S30, it also includes:

[0086] For the S40, a test platform was built. The parameters of the expected acceleration algorithm for cruise control mode and following mode were adjusted and the code was generated through the test platform.

[0087] In this step, the test platform is built based on various visual simulation software tools.

[0088] In specific implementation, in S40, the construction of the test platform includes: building the expected acceleration algorithm for cruise control mode and following mode in S30 using Simulink; building the vehicle dynamics model using Carsim; and building different scenarios for cruise control mode and following mode using Prescan.

[0089] Simulink is a visualization and simulation tool in MATLAB. Based on the MATLAB framework design environment, it provides an integrated environment for dynamic system modeling, simulation, and analysis. It can realize dynamic system modeling, simulation, and analysis. In this environment, there is no need to write a lot of programs. Instead, complex systems can be constructed through simple and intuitive mouse operations. It has the advantages of wide applicability, clear structure and process, fine simulation, close to reality, high efficiency, and flexibility.

[0090] CarSim is a simulation software specifically designed for vehicle dynamics. The control module is provided by Simulink. CarSim offers a series of operations, including vehicle dynamics simulation models, visualization of vehicle operating scenarios, and sensor simulation. It can simulate the vehicle's response to driver, road surface, and aerodynamic inputs. It is mainly used to predict and simulate the handling stability, braking performance, ride comfort, power, and economy of the entire vehicle. It is also widely used in the development of modern automotive control systems. Furthermore, CarSim allows for convenient and flexible definition of test environments and test processes, and detailed definition of characteristic parameters and characteristic files for each system of the vehicle.

[0091] Prescan comes with various types of scene and sensor models, and supports co-simulation with Simulink, Carsim, ROS, Autoware, Python, FMI, and C++.

[0092] In this embodiment, by building a test platform and utilizing the auxiliary computing capabilities of computer simulation software, a large amount of simulation data under different scenarios and road conditions can be obtained in a short time. By analyzing the simulation data, the parameters of the optimized adaptive cruise algorithm can be quickly adjusted. While ensuring the reliability and applicability of the optimized adaptive cruise algorithm, the workload in the parameter adjustment process can be greatly reduced, saving a lot of time and manpower costs.

[0093] Example 3:

[0094] Building upon Example 2, further improvements have been made to ensure that the desired acceleration algorithms for cruise control and following modes, optimized by the comfort function, are more accurate, reliable, and better suited to practical applications. Figure 3 The diagram shown is a flowchart illustrating a method for improving adaptive cruise comfort provided in implementation 3. Following S40, it also includes:

[0095] The S50 integrates the generated code into the vehicle's ECU and conducts real-vehicle testing. During the real-vehicle testing, the parameters of the expected acceleration algorithm for cruise control mode and following mode are adjusted again.

[0096] The ECU (Electronic Control Unit), also known as the "vehicle computer" or "on-board computer," consists of a microcontroller (MCU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits for shaping and driving.

[0097] This embodiment 3 provides a method to improve the comfort of adaptive cruise control. By integrating the generated code into the vehicle's ECU and conducting real-vehicle testing, the simulation data can be further verified. If necessary, the simulation data can be appropriately adjusted to make the expected acceleration algorithm of the cruise control mode and following mode after the comfort function optimization more reliable and more applicable.

[0098] like Figure 4 As shown in the diagram, Implementation 3 provides a method for improving the comfort of adaptive cruise control. The driver uses a human-machine interface to decide whether to activate the adaptive cruise control function. When activated, the adaptive cruise control system automatically determines whether there are other vehicles ahead. Based on this information, the system automatically enters either cruise control mode or following mode. By incorporating a comfort function, the expected acceleration algorithms in cruise control and following modes are optimized, respectively, thus improving comfort throughout the adaptive cruise control process. Combined with simulation and real-vehicle test results, the optimized expected acceleration algorithms in cruise control and following modes exhibit higher reliability and better applicability, effectively avoiding the problems of high workload, low efficiency, and high cost associated with manual parameter calibration during parameter adjustment.

[0099] Example 4:

[0100] Based on the same overall technical solution as in Embodiment 1, such as Figure 5The diagram shown is a schematic of a device structure for improving adaptive cruise comfort provided in Embodiment 4, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor to perform the method for improving adaptive cruise comfort as described in Embodiment 1.

[0101] In summary, this invention provides a method and apparatus for improving the comfort of adaptive cruise control. By adding a comfort function to the vehicle's adaptive cruise algorithm, the changes in vehicle acceleration are optimized, making the vehicle's speed change process smoother and avoiding strong jerking sensations. This improves the comfort of the vehicle in adaptive cruise mode and has advantages such as good safety, high reliability, and convenient application.

[0102] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0103] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, electronic devices, or computer software program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, systems, electronic devices, or computer software program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction set implemented in a process. Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

Claims

1. A method for improving the comfort of adaptive cruise control, characterized in that, include: S10, activate adaptive cruise control mode and set target speed. Adaptive cruise control mode is divided into cruise control mode and following mode, depending on the current road conditions. The S20 uses an adaptive cruise control algorithm to calculate the expected acceleration for cruise control mode and following mode, respectively. In S20, the calculation of the desired acceleration for cruise control mode and following mode respectively includes: The desired acceleration for cruise control mode is calculated using a PID control algorithm. The desired acceleration in the following mode is calculated using a linear quadratic optimal solution control algorithm. The S30 incorporates a comfort function, which optimizes the expected acceleration algorithm for both cruise control and following modes, thereby improving comfort in adaptive cruise control mode. The PID control algorithm is used to calculate the desired acceleration in cruise control mode. The calculation method is as follows: in, It is the error between the current vehicle speed and the set vehicle speed. For proportional parameters, For integration parameters, For differential parameters; In S30, the desired acceleration algorithm for cruise control mode is optimized using a comfort function. The calculation method is as follows: in, For comfort function, A is a timer, and A is a parameter; Alternatively, the linear quadratic optimal solution control algorithm is used to calculate the desired acceleration in the following mode, and the calculation method is as follows: in, It is the difference between the expected distance and the actual distance between vehicles. It is a distance parameter. It is the difference between the expected speed and the actual speed. It is a speed parameter; In S30, the expected acceleration algorithm for following mode is optimized using a comfort function. The calculation method is as follows: in, For comfort function, Let A be the timer and A be the parameter.

2. The method for improving adaptive cruise comfort according to claim 1, characterized in that, Following S30, it also includes: For the S40, a test platform was built. The parameters of the expected acceleration algorithm for cruise control mode and following mode were adjusted and the code was generated through the test platform.

3. The method for improving adaptive cruise comfort according to claim 2, characterized in that, In S40, the construction of the test platform specifically includes: The expected acceleration algorithm for cruise control mode and following mode in S30 was built using Simulink. Build a vehicle dynamics model using Carsim; Use Prescan to create different scenarios for cruise control and following modes.

4. The method for improving adaptive cruise comfort according to claim 2, characterized in that, Following S40, it also includes: The S50 integrates the generated code into the vehicle's ECU and conducts real-vehicle testing. During the real-vehicle testing, the parameters of the expected acceleration algorithm for cruise control mode and following mode are adjusted again.

5. A device for improving the comfort of adaptive cruise control, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the processor for performing the method for improving adaptive cruise comfort as described in any one of claims 1-4.

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