An adaptive cruise anti-slope compensation and overtaking auxiliary control system and method

Abstract

The present invention discloses an adaptive cruise anti-slope compensation and overtaking assistance control system and method, belonging to the field of intelligent driving. The adaptive cruise anti-slope compensation and overtaking assistance control system includes an ADS module, a BCM module, an environmental sensor, an ESP module, an EPS module, a function switch and a central control large screen; the environmental sensor is used to receive external environmental information; the ADS module is used to receive external environmental information sent by the environmental sensor, perform information preprocessing, and perform lateral and longitudinal control of the vehicle, and perform display control on the central control large screen; the ESP module is used to control vehicle acceleration and deceleration and vehicle stability; the EPS module is used to control the steering of the vehicle. The present invention provides an adaptive cruise anti-slope compensation and overtaking assistance control system and method, which can solve the problem of non-linear acceleration and deceleration of vehicles on steep slopes, improve the driving experience, and the vehicle can accelerate and decelerate in advance during overtaking assistance, which improves lane change efficiency and driving comfort, and enhances the driver's vehicle driving experience.

Description

Technical Field

[0001] The invention relates to an adaptive cruise anti-slope compensation and overtaking auxiliary control system and method, belonging to the field of intelligent driving. Background Art

[0002] At present, vehicles equipped with adaptive cruise control have basically achieved universalization. However, for traditional fuel vehicles equipped with adaptive cruise control, radar, camera and other sensors are used to monitor the road conditions ahead in real time, including the speed and distance of the vehicle in front. The actuator adjusts the throttle opening or activates the braking system according to the instructions of the control module to control the vehicle speed.

[0003] In the existing technology, when a vehicle is going uphill, a vehicle acceleration will be predicted. If a vehicle rolls down the slope, the vehicle will experience non-linear acceleration and deceleration, resulting in a poor driving experience. When the vehicle is performing adaptive cruise control, if there is a slow vehicle in the vehicle lane and the driver wants to overtake and change lanes to another lane, overtaking assistance is required, but the acceleration of the overtaking assistance will make the driver feel uncomfortable. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an adaptive cruise control system and method for anti-slope compensation and overtaking assistance, which can solve the problem of non-linear acceleration and deceleration of vehicles on steep slopes, improve the driving experience, and allow the vehicle to perform smoother acceleration and deceleration in advance during overtaking assistance, thereby improving lane change efficiency and driving comfort, and enhancing the driver's vehicle driving experience.

[0005] In order to solve the above technical problems, the technical solution of the present invention is:

[0006] On one hand, the present invention provides an adaptive cruise anti-slope compensation and overtaking auxiliary control system, which includes an ADS module, a BCM module, an environmental sensor, an ESP module, an EPS module, a function switch and a central control large screen;

[0007] The environmental sensor is used to receive external environmental information;

[0008] The ADS module is used to receive the vehicle body status and switch signals sent by the BCM module, receive the external environment information sent by the environmental sensor, perform information preprocessing, and then control the vehicle in the horizontal and vertical directions, and control the display of the central control screen;

[0009] The central control large screen is used to display the vehicle's lateral and longitudinal control information and road information;

[0010] The function switch is used to trigger the ADS module;

[0011] The BCM module is used to obtain the vehicle body status and the switch signal of the function switch and transmit it to the ADS module;

[0012] The ESP module is used to control vehicle acceleration and deceleration and vehicle stability;

[0013] The EPS module is used to control the steering of the vehicle.

[0014] Further, the ADS module includes an ACC following target calculation module, and the ACC following target calculation module includes a speed and target processing module, an actuator delay compensation module, a time distance calculation module, an ACC discrete prediction point calculation module, an acceleration dead zone compensation module, and an acceleration and acceleration change rate calculation processing module;

[0015] The speed and target processing module is used to filter the speed signal of the vehicle and the speed signal of the target vehicle;

[0016] The actuator delay compensation module is used to perform delay compensation on the longitudinal control of the ESC actuator;

[0017] The time distance calculation module is used to calculate the vehicle speed and the following distance according to the time distance set by the vehicle;

[0018] The ACC discrete prediction point calculation module is used to calculate the requested acceleration of each discrete prediction point, output the minimum value of the requested acceleration as the first requested acceleration, and calculate the change rate of the first requested acceleration;

[0019] The acceleration dead zone compensation module is used to perform dead zone compensation processing on the first requested acceleration output by the ACC discrete prediction point calculation module and output a compensated second requested acceleration;

[0020] The acceleration and acceleration change rate calculation processing module is used to calculate and arbitrate the second requested acceleration and the change rate of the second requested acceleration output by the acceleration dead zone compensation module to obtain the third requested acceleration and the change rate of the third requested acceleration for the vehicle to follow the target.

[0021] Further, the ACC discrete prediction point calculation module includes a vehicle speed limit module, a predicted acceleration calculation module, an anti-slip calculation module, a longitudinal acceleration arbitration module and an acceleration change rate calculation arbitration module;

[0022] The speed limit module is used to calculate the current distance between the self-vehicle and the target vehicle according to the speed of the target vehicle and the current following distance set by the ACC following target calculation module;

[0023] The predicted acceleration calculation module is used to obtain the predicted acceleration value of each discrete prediction point through a calculation formula;

[0024] The anti-slope calculation module is used to perform positive and negative judgment and calculation processing on the value of the predicted acceleration output by the predicted acceleration calculation module and output the anti-slope target acceleration and the rate of change of the anti-slope target acceleration;

[0025] The longitudinal acceleration arbitration module and the acceleration change rate calculation arbitration module are used to perform calculation arbitration according to the anti-slope sliding target acceleration and the change rate of the anti-slope sliding target acceleration, and output the data obtained by the calculation arbitration to the acceleration dead zone compensation module.

[0026] Furthermore, the data obtained by the calculation and arbitration include the first requested acceleration, the rate of change of the first requested acceleration, the predicted expected time interval, and the predicted time of the expected time interval.

[0027] Another aspect of the present invention provides a control method for an adaptive cruise control system for anti-slope compensation and overtaking assistance, which comprises the following steps:

[0028] Step S1, the vehicle is started and a power-on self-test is performed. After the self-test is completed, it is confirmed that the vehicle has no faults and whether the function switch of the ADS module is turned on is determined. If it is turned on, the process jumps to step S2. If it is not turned on, the process re-executes step S1;

[0029] Step S2, the environmental sensor starts working to determine whether there is a target. If there is no target, the cruise control mode is started and the vehicle speed is set for driving. If there is a target, the target type is determined. If the target is a vehicle, the target is selected and used as the main target to be followed.

[0030] Step S3: the actuator delay compensation module performs delay compensation on the control of the vehicle acceleration, and after the delay compensation is completed, performs time correction calculation and expected time prediction time calculation;

[0031] Step S4, calculating the predicted acceleration and the change rate of the predicted acceleration for each discrete prediction point, judging whether the calculated predicted acceleration value meets the start-up condition of the anti-slope sliding system, and outputting the anti-slope sliding module;

[0032] Step S5: When the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation;

[0033] Step S6, judging whether the fast lane used for lane change and overtaking is safe and can be changed into lane, if so, jumping to step S8, if not, repeating step S7;

[0034] Step S7, while determining that the driver has the intention to overtake, continue to follow the target vehicle in front in the lane, and determine the following distance correction coefficient according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on;

[0035] Step S8, determine whether the conditions for entering the overtaking assistance mode are met. If so, add an offset to the first requested acceleration calculated by the ACC discrete prediction point calculation module, and increase the change rate of the first requested acceleration. The overtaking assistance target acceleration and the change rate of the overtaking assistance target acceleration are calculated according to the formula.

[0036] Further, in step S4, the predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated, it is determined whether the calculated predicted acceleration value meets the start-up condition of the anti-slope system, and the anti-slope module is output, which specifically includes the following steps:

[0037] The predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated by the predicted acceleration calculation module to determine whether the calculated predicted acceleration value meets the start-up condition of the anti-slope system. If the condition is not met, the predicted acceleration and the change rate of the predicted acceleration output by the predicted acceleration calculation module are used as the output of the anti-slope calculation module. If the condition is met, the anti-slope target acceleration and the change rate of the anti-slope target acceleration are calculated by the formula and used as the output of the anti-slope calculation module. The calculation formulas for the anti-slope target acceleration and the change rate of the anti-slope target acceleration are as follows:

[0038] According to the speed calculation formula:

[0039] ;

[0040] According to the extreme value principle:

[0041] ;

[0042] Differentiation gives the expected time distance prediction time at the minimum speed:

[0043] ;

[0044] according to , get:

[0045] ;

[0046] ;

[0047] in, is the current vehicle speed;

[0048] Predict the time for the expected duration of the current moment;

[0049] is the initial expected time distance prediction time;

[0050] is the rate of change of initial predicted acceleration;

[0051] is the initial predicted acceleration;

[0052] is the initial velocity;

[0053] The distance the vehicle needs to travel to reach the desired headway;

[0054] Target acceleration for preventing landslide;

[0055] The rate of change of the target acceleration for preventing slope slippage.

[0056] Furthermore, in step S5, when the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation, which specifically includes the following steps:

[0057] Determine whether the following distance should be adjusted;

[0058] determining whether to adjust a rate of change of a first requested acceleration when the vehicle performs target following;

[0059] Calculate the duration of overtaking assistance, and calculate the following distance correction factor based on the duration of overtaking assistance;

[0060] Determine whether to cancel the overtaking assistance function.

[0061] Further, in step S6, judging whether the fast lane used for lane change and overtaking is safe and can be changed into a lane specifically includes the following steps:

[0062] Determine whether there is a vehicle in the fast lane used for lane change and overtaking, and whether the distance of the vehicle in the fast lane is farther than the distance of the target vehicle in the main lane;

[0063] Determine whether the speed of the vehicle in the fast lane is faster than the target vehicle in the main lane.

[0064] Furthermore, in step S7, the following distance correction coefficient is determined according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on, which specifically includes the following steps:

[0065] Determine the first impact factor :

[0066] ;

[0067] Determine the second impact factor :

[0068] , ;

[0069] Get the following distance correction coefficient :

[0070] ;

[0071] in, The expected following distance;

[0072] is the duration of overtaking assistance;

[0073] is the current vehicle speed;

[0074] Speed ​​threshold when overtaking assist is activated.

[0075] Further, in step S8, the overtaking assistance target acceleration and the rate of change of the overtaking assistance target acceleration are calculated according to the formula, and the specific formula is as follows:

[0076] ;

[0077] ;

[0078] in, To predict acceleration;

[0079] is the current actual following distance;

[0080] is the duration of overtaking assistance;

[0081] Target acceleration for overtaking assistance;

[0082] is the rate of change of overtaking assistance target acceleration.

[0083] By adopting the above technical solution, the present invention has the following beneficial effects:

[0084] The present invention arranges an environmental sensor to receive external environmental information, and receives and preprocesses the information through an ADS module, so as to realize lateral and longitudinal control of the vehicle. An ACC following target calculation module is arranged in the ADS module, so as to calculate the acceleration and the rate of change of acceleration of the vehicle when following the target. An ACC discrete calculation point prediction module is arranged in the ACC following target calculation module, so as to provide a compensation method for preventing the vehicle from sliding down a steep slope, solve the problem of nonlinear acceleration and deceleration of the vehicle on a steep slope road surface, improve the driving experience, and when overtaking assistance is needed, the vehicle can perform smoother acceleration and deceleration in advance according to the driver's intention, so as to enhance the driver's vehicle driving experience and driving comfort, and improve the lane changing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 It is a principle block diagram of the adaptive cruise anti-slope compensation and overtaking assistance control system of the present invention;

[0086] Figure 2 It is a principle block diagram of the ACC following target calculation module of the present invention;

[0087] Figure 3 It is a principle block diagram of the ACC discrete calculation point prediction module of the present invention;

[0088] Figure 4 This is a flow chart of the control method of the adaptive cruise anti-slope compensation and overtaking assistance control system of the present invention. DETAILED DESCRIPTION

[0089] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0090] Embodiment 1

[0091] like Figure 1 As shown, this embodiment provides an adaptive cruise control system for anti-slope compensation and overtaking assistance, which includes an ADS module, a BCM module, an environmental sensor, an ESP module, an EPS module, a function switch and a central control screen;

[0092] Environmental sensors are used to receive external environmental information;

[0093] The ADS module is an assisted driving controller, which is used to receive the vehicle body status and switch signals sent by the BCM module, receive the external environment information sent by the environmental sensor, perform information preprocessing, and then control the vehicle horizontally and vertically, and control the display of the central control screen;

[0094] The large central control screen is used to display the vehicle's lateral and longitudinal control information and road information;

[0095] The function switch is used to trigger the ADS module;

[0096] The BCM module is a body controller, which is used to obtain the body status and switch signals of the function switches and transmit them to the ADS module;

[0097] The ESP module is a vehicle stability system used to control vehicle acceleration and deceleration and vehicle stability;

[0098] The EPS module is a power steering system used to control the steering of the vehicle.

[0099] like Figure 2 As shown, the ADS module of this embodiment includes an ACC following target calculation module, which includes a speed and target processing module, an actuator delay compensation module, a time distance calculation module, an ACC discrete prediction point calculation module, an acceleration dead zone compensation module, and an acceleration and acceleration change rate calculation processing module;

[0100] The speed and target processing module is used to filter the speed signal of the vehicle and the speed signal of the target vehicle;

[0101] The actuator delay compensation module is used to compensate for the delay of the longitudinal control of the ESC actuator. Since there is a delay between receiving the acceleration and deceleration command and the execution of the ESC actuator, the actuator delay compensation module compensates for this delay.

[0102] The time distance calculation module is used to calculate the vehicle speed and the following distance according to the time distance set by the vehicle;

[0103] The ACC discrete prediction point calculation module is used to calculate the requested acceleration of each discrete prediction point, output the minimum value of the requested acceleration as the first requested acceleration, and calculate the change rate of the first requested acceleration;

[0104] The acceleration dead zone compensation module is used to perform dead zone compensation processing on the first requested acceleration output by the ACC discrete prediction point calculation module and output the compensated second requested acceleration. Due to the reasons of the driving system and the braking system, the acceleration and braking of the vehicle are not performed according to the expected goals, and the acceleration and deceleration values ​​are further increased, making the driver feel uncomfortable;

[0105] The acceleration and acceleration change rate calculation processing module is used to calculate and arbitrate the second requested acceleration and the change rate of the second requested acceleration output by the acceleration dead zone compensation module to obtain the third requested acceleration and the change rate of the third requested acceleration for the vehicle to follow the target.

[0106] like Figure 3 As shown, the ACC discrete prediction point calculation module of this embodiment includes a vehicle speed limit module, a prediction acceleration calculation module, an anti-slip calculation module, a longitudinal acceleration arbitration module and an acceleration change rate calculation arbitration module;

[0107] The speed limit module is used to calculate the current distance between the self-vehicle and the target vehicle according to the speed of the target vehicle and the current following distance set by the ACC following target calculation module;

[0108] The predicted acceleration calculation module is used to obtain the predicted acceleration value of each discrete prediction point through the acceleration calculation formula;

[0109] The anti-slope calculation module is used to make positive and negative judgments and calculations on the predicted acceleration value output by the predicted acceleration calculation module and output the anti-slope target acceleration and the rate of change of the anti-slope target acceleration. The anti-slope calculation module is used to prevent the vehicle from sliding down the slope when calculating the predicted acceleration, and avoid incorrect calculation of the vehicle acceleration caused by the sliding down the slope;

[0110] The longitudinal acceleration arbitration module and the acceleration change rate calculation arbitration module are used to perform calculation arbitration based on the anti-slope target acceleration and the rate of change of the anti-slope target acceleration, and output the data obtained by the calculation arbitration to the acceleration dead zone compensation module. The data obtained by the calculation arbitration includes the first requested acceleration, the rate of change of the first requested acceleration, the predicted expected time interval, and the expected time interval prediction time.

[0111] Embodiment 2

[0112] like Figure 3 As shown, this embodiment provides a control method of the adaptive cruise anti-slope compensation and overtaking assistance control system as in Embodiment 1, which comprises the following steps:

[0113] Step S1, the vehicle is started and a power-on self-test is performed. After the self-test is completed, it is confirmed that the vehicle has no faults and whether the function switch of the ADS module is turned on is determined. If it is turned on, the process jumps to step S2. If it is not turned on, the process re-executes step S1;

[0114] Step S2, the environmental sensor starts working to determine whether there is a target. If there is no target, the cruise control mode is started and the vehicle speed is set for driving. If there is a target, the target type is determined. If the target is a vehicle, including a two-wheeled vehicle and a three-wheeled vehicle, the target is selected and used as the main target to be followed;

[0115] Step S3, the actuator delay compensation module performs delay compensation on the control of vehicle acceleration, and after the delay compensation is completed, the time distance correction calculation and the expected time distance prediction time calculation are performed. The delay time between the brake system and the engine receiving the vehicle acceleration and deceleration command and the acceleration and deceleration reaching the command data is generally T1 (generally 100-300ms) to T2 (generally 500-1000ms);

[0116] Step S4, calculating the predicted acceleration and the change rate of the predicted acceleration for each discrete prediction point. When calculating the predicted acceleration, there is a situation where the vehicle reverses due to too low speed or too low acceleration. Therefore, it is determined whether the calculated predicted acceleration value meets the start-up condition of the anti-slope sliding system, and the anti-slope sliding module is output;

[0117] Step S5: When the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation;

[0118] Step S6, judging whether the fast lane used for lane change and overtaking is safe and can be changed into lane, that is, whether the overtaking assist function activation condition is met, if so, jumping to step S8, if not, repeating step S7;

[0119] Step S7, while determining that the driver has the intention to overtake, continue to follow the target vehicle in front in the lane, and determine the following distance correction coefficient according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on;

[0120] Step S8, judging whether the conditions for entering the overtaking assistance mode are met. The conditions for entering the overtaking assistance mode are that the current actual headway is greater than the set minimum threshold headway and there is no collision risk. If the conditions are met, an offset is added to the first requested acceleration calculated by the ACC discrete prediction point calculation module to accelerate the ego vehicle, and at the same time, the change rate of the first requested acceleration is increased to speed up the ego vehicle's response speed. The overtaking assistance target acceleration and the change rate of the overtaking assistance target acceleration are calculated according to the formula.

[0121] In step S4 of this embodiment, the predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated, and it is determined whether the calculated predicted acceleration value meets the start-up condition of the anti-slope system, and the output of the anti-slope module is performed, which specifically includes the following steps:

[0122] The predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated through the predicted acceleration calculation module to determine whether the calculated predicted acceleration value meets the anti-slope system startup condition. The anti-slope system startup condition is that the vehicle predicted speed is greater than 0 and the predicted acceleration is less than 0, that is, the vehicle is in a sliding or braking state. If the conditions are not met, the predicted acceleration and the change rate of the predicted acceleration output by the predicted acceleration calculation module are used as the output of the anti-slope calculation module. If the conditions are met, the anti-slope target acceleration and the change rate of the anti-slope target acceleration are calculated by the formula and used as the output of the anti-slope calculation module. The calculation formulas for the anti-slope target acceleration and the change rate of the anti-slope target acceleration are as follows:

[0123] According to the speed calculation formula:

[0124] ;

[0125] According to the extreme value principle:

[0126] ;

[0127] Differentiation gives the expected time distance prediction time at the minimum speed:

[0128] ;

[0129] according to , get:

[0130] ;

[0131] ;

[0132] in, is the current vehicle speed;

[0133] Predict the time for the expected duration of the current moment;

[0134] is the initial expected time distance prediction time;

[0135] is the rate of change of initial predicted acceleration;

[0136] is the initial predicted acceleration;

[0137] is the initial velocity;

[0138] The distance the vehicle needs to travel to reach the desired headway;

[0139] Target acceleration for preventing landslide;

[0140] The rate of change of the target acceleration for preventing slope slippage.

[0141] In step S5 of this embodiment, when the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation, which specifically includes the following steps:

[0142] Determine whether the following distance should be adjusted;

[0143] determining whether to adjust a rate of change of a first requested acceleration when the vehicle performs target following;

[0144] Calculate the duration of overtaking assistance, and calculate the following distance correction factor based on the duration of overtaking assistance;

[0145] Determine whether to cancel the overtaking assistance function.

[0146] In step S6 of this embodiment, judging whether the fast lane used for lane change and overtaking is safe and can be changed into a lane specifically includes the following steps:

[0147] Determine whether there is a vehicle on the fast lane used for lane change and overtaking, and whether the distance of the vehicle on the fast lane is farther than the distance of the target vehicle in the main lane. The threshold distance of the vehicle on the fast lane exceeding the target vehicle in the main lane is 10m;

[0148] Determine whether the speed of the vehicle in the fast lane is faster than the speed of the target vehicle in the main lane. The speed difference threshold of the vehicle in the fast lane exceeding the speed of the target vehicle in the main lane is 5km / h.

[0149] In step S7 of this embodiment, the following distance correction coefficient is determined according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on, which specifically includes the following steps:

[0150] Determine the first impact factor :

[0151] ;

[0152] Determine the second impact factor :

[0153] , ;

[0154] Get the following distance correction coefficient :

[0155] ;

[0156] in, The expected following distance;

[0157] is the duration of overtaking assistance;

[0158] is the current vehicle speed;

[0159] Speed ​​threshold when overtaking assist is activated.

[0160] In step S8 of this embodiment, the overtaking assistance target acceleration and the rate of change of the overtaking assistance target acceleration are calculated according to the formula, and the specific formula is as follows:

[0161] ;

[0162] ;

[0163] in, To predict acceleration;

[0164] is the current actual following distance;

[0165] is the duration of overtaking assistance;

[0166] Target acceleration for overtaking assistance;

[0167] is the rate of change of overtaking assistance target acceleration.

[0168] The working principle of the present invention is as follows:

[0169] The vehicle starts and performs a power-on self-test to confirm that the vehicle has no faults. After the function switch of the ADS module is turned on, the environmental sensor starts working. If a target vehicle is detected, the target selection is performed. The actuator delay compensation module performs delay compensation on the control of the vehicle acceleration. After the delay compensation is completed, the time correction calculation and the expected time prediction time calculation are performed. The predicted acceleration and the change rate of the predicted acceleration are calculated for each discrete prediction point to determine whether the anti-slope system startup conditions are met and the anti-slope calculation module outputs. When the environmental sensor recognizes that the driver has the intention to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparations and determines whether the fast lane used for lane change and overtaking is safe and can be changed. At the same time, it continues to follow the target vehicle in front in this lane and determines the following vehicle time correction coefficient. It is determined whether the conditions for entering the overtaking assistance mode are met. If so, an offset is added to the first requested acceleration calculated by the ACC discrete prediction point calculation module, and the change rate of the first requested acceleration is increased. The overtaking assistance target acceleration and the change rate of the overtaking assistance target acceleration are calculated according to the formula.

[0170] The present invention arranges an environmental sensor to receive external environmental information, and receives and preprocesses the information through an ADS module, so as to realize lateral and longitudinal control of the vehicle. An ACC following target calculation module is arranged in the ADS module, so as to calculate the acceleration and the rate of change of acceleration of the vehicle when following the target. An ACC discrete calculation point prediction module is arranged in the ACC following target calculation module, so as to provide a compensation method for preventing the vehicle from sliding down a steep slope, solve the problem of nonlinear acceleration and deceleration of the vehicle on a steep slope road surface, improve the driving experience, and when overtaking assistance is needed, the vehicle can perform smoother acceleration and deceleration in advance according to the driver's intention, so as to enhance the driver's vehicle driving experience and driving comfort, and improve the lane changing efficiency.

[0171] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive cruise control system for anti-slope compensation and overtaking assistance, characterized in that: It includes ADS module, BCM module, environmental sensor, ESP module, EPS module, function switch and central control screen; The environmental sensor is used to receive external environmental information; The ADS module is used to receive the vehicle body status and switch signals sent by the BCM module, receive the external environment information sent by the environmental sensor, perform information preprocessing, and then control the vehicle in the horizontal and vertical directions, and control the display of the central control screen; The central control large screen is used to display the vehicle's lateral and longitudinal control information and road information; The function switch is used to trigger the ADS module; The BCM module is used to obtain the vehicle body status and the switch signal of the function switch and transmit it to the ADS module; The ESP module is used to control vehicle acceleration and deceleration and vehicle stability; The EPS module is used to control the steering of the vehicle; The ADS module includes an ACC target following calculation module, which includes a speed and target processing module, an actuator delay compensation module, a time distance calculation module, an ACC discrete prediction point calculation module, an acceleration dead zone compensation module, and an acceleration and acceleration change rate calculation processing module; The speed and target processing module is used to filter the speed signal of the vehicle and the speed signal of the target vehicle; The actuator delay compensation module is used to perform delay compensation on the longitudinal control of the ESC actuator; The time distance calculation module is used to calculate the vehicle speed and the following distance according to the time distance set by the vehicle; The ACC discrete prediction point calculation module is used to calculate the requested acceleration of each discrete prediction point, output the minimum value of the requested acceleration as the first requested acceleration, and calculate the change rate of the first requested acceleration; The acceleration dead zone compensation module is used to perform dead zone compensation processing on the first requested acceleration output by the ACC discrete prediction point calculation module and output a compensated second requested acceleration; The acceleration and acceleration change rate calculation processing module is used to calculate and arbitrate the second requested acceleration and the change rate of the second requested acceleration output by the acceleration dead zone compensation module to obtain the third requested acceleration and the change rate of the third requested acceleration for the vehicle to follow the target.

2. The adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 1, characterized in that: The ACC discrete prediction point calculation module includes a vehicle speed limit module, a prediction acceleration calculation module, an anti-slip calculation module, a longitudinal acceleration arbitration module and an acceleration change rate calculation arbitration module; The speed limit module is used to calculate the current distance between the self-vehicle and the target vehicle according to the speed of the target vehicle and the current following distance set by the ACC following target calculation module; The predicted acceleration calculation module is used to obtain the predicted acceleration value of each discrete prediction point through a calculation formula; The anti-slope sliding calculation module is used to judge and calculate the value of the predicted acceleration output by the predicted acceleration calculation module and output the anti-slope sliding target acceleration and the rate of change of the anti-slope sliding target acceleration; The longitudinal acceleration arbitration module and the acceleration change rate calculation arbitration module are used to perform calculation arbitration according to the anti-slope sliding target acceleration and the change rate of the anti-slope sliding target acceleration, and output the data obtained by the calculation arbitration to the acceleration dead zone compensation module.

3. The adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 2, characterized in that: The data obtained by the calculation and arbitration include the first requested acceleration, the rate of change of the first requested acceleration, the predicted expected time interval, and the predicted time of the expected time interval.

4. A control method for an adaptive cruise control system according to any one of claims 1 to 3, characterized in that: It includes the following steps: Step S1, the vehicle is started and a power-on self-test is performed. After the self-test is completed, it is confirmed that the vehicle has no faults and whether the function switch of the ADS module is turned on is determined. If it is turned on, the process jumps to step S2. If it is not turned on, the process re-executes step S1; Step S2, the environmental sensor starts working to determine whether there is a target. If there is no target, the cruise control mode is started and the vehicle speed is set for driving. If there is a target, the target type is determined. If the target is a vehicle, the target is selected and used as the main target to be followed. Step S3: the actuator delay compensation module performs delay compensation on the control of the vehicle acceleration, and after the delay compensation is completed, performs time correction calculation and expected time prediction time calculation; Step S4, calculating the predicted acceleration and the change rate of the predicted acceleration for each discrete prediction point, judging whether the calculated predicted acceleration value meets the start-up condition of the anti-slope sliding system, and outputting the anti-slope sliding module; Step S5: When the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation; Step S6, judging whether the fast lane used for lane change and overtaking is safe and can be changed into lane, if so, jumping to step S8, if not, repeating step S7; Step S7, while determining that the driver has the intention to overtake, continue to follow the target vehicle in front in the lane, and determine the following distance correction coefficient according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on; Step S8, determine whether the conditions for entering the overtaking assistance mode are met. If so, add an offset to the first requested acceleration calculated by the ACC discrete prediction point calculation module, and increase the change rate of the first requested acceleration. The overtaking assistance target acceleration and the change rate of the overtaking assistance target acceleration are calculated according to the formula.

5. The control method of the adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 4, characterized in that: In the step S4, the predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated, and it is determined whether the calculated predicted acceleration value meets the start-up condition of the anti-slope system, and the anti-slope module is output, which specifically includes the following steps: The predicted acceleration and the change rate of the predicted acceleration of each discrete prediction point are calculated by the predicted acceleration calculation module, and it is determined whether the calculated predicted acceleration value meets the start-up condition of the anti-slope system. If the condition is not met, the predicted acceleration and the change rate of the predicted acceleration output by the predicted acceleration calculation module are used as the output of the anti-slope calculation module. If the condition is met, the anti-slope target acceleration and the change rate of the anti-slope target acceleration are calculated by the formula and used as the output of the anti-slope calculation module. The calculation formulas of the anti-slope target acceleration and the change rate of the anti-slope target acceleration are as follows: According to the speed calculation formula: ； According to the extreme value principle: ； Differentiation gives the expected time prediction time at the minimum speed: ； according to , get: ； ； in, is the current vehicle speed; Predict the time for the expected duration of the current moment; is the initial expected time distance prediction time; is the rate of change of initial predicted acceleration; is the initial predicted acceleration; is the initial velocity; The distance the vehicle needs to travel to reach the desired headway; Target acceleration for preventing landslide; The rate of change of the target acceleration for preventing slope slippage.

6. The control method of the adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 4, characterized in that: In step S5, when the environmental sensor recognizes that the driver intends to change lanes and detects that the lane change function is triggered, the ADS module performs overtaking assistance preparation, which specifically includes the following steps: Determine whether the following distance should be adjusted; determining whether to adjust a rate of change of a first requested acceleration when the vehicle performs target following; Calculate the duration of overtaking assistance, and calculate the following distance correction factor based on the duration of overtaking assistance; Determine whether to cancel the overtaking assistance function.

7. The control method of the adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 4, characterized in that: In step S6, judging whether the fast lane used for lane change and overtaking is safe and can be changed into a lane specifically includes the following steps: Determine whether there is a vehicle in the fast lane used for lane change and overtaking, and whether the distance of the vehicle in the fast lane is farther than the distance of the target vehicle in the main lane; Determine whether the speed of the vehicle in the fast lane is faster than the target vehicle in the main lane.

8. The control method of the adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 4, characterized in that: In step S7, the following distance correction coefficient is determined according to the speed difference between the overtaking assistance duration and the current vehicle speed and the speed threshold when the overtaking assistance function is turned on, which specifically includes the following steps: Determine the first impact factor : ； Determine the second impact factor : , ； Get the following distance correction coefficient : ； in, The expected following distance; is the duration of overtaking assistance; is the current vehicle speed; Speed ​​threshold when overtaking assist is activated.

9. The control method of the adaptive cruise control system for anti-slope compensation and overtaking assistance according to claim 4, characterized in that: In step S8, the overtaking assistance target acceleration and the rate of change of the overtaking assistance target acceleration are calculated according to the formula, and the specific formula is as follows: ； ； in, To predict acceleration; is the current actual following distance; is the duration of overtaking assistance; Target acceleration for overtaking assistance; is the rate of change of overtaking assistance target acceleration.

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