Two-wheeled vehicle and adaptive cruise method thereof

Abstract

The application discloses a two-wheeled vehicle and an adaptive cruise method thereof, and relates to the technical field of vehicles.The method comprises the following steps: a two-wheeled vehicle identifies a plurality of front target vehicles in front and respectively acquires lane information and lateral distance information of the front target vehicles; the acceleration difference between the front target vehicles and the two-wheeled vehicle is calculated; when the two-wheeled vehicle is in an adaptive cruise mode, a main target vehicle for adaptive cruise following is selected from the plurality of front target vehicles based on the lane information, the acceleration difference and the lateral distance information, and the torque request required for corresponding adaptive cruise is calculated; and a power system responds to the torque request to adjust the speed of the two-wheeled vehicle. The adaptive cruise mode is more stable, the main target for following is not frequently changed, the speed change during adaptive cruise is further more stable, and the driving experience is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicles, specifically to a two-wheeled vehicle and its adaptive cruise control method. Background Technology

[0002] Cruise control has become widespread in the mid-to-large displacement motorcycle and electric motorcycle markets, while adaptive cruise control (ACC), as a more advanced and intelligent feature, is also in high demand in the market.

[0003] When a two-wheeled vehicle is in adaptive cruise control mode and in following mode, it needs to select a suitable target vehicle from multiple vehicles as the primary target vehicle. However, due to the complex road conditions encountered by two-wheeled vehicles, the existing primary target vehicle selection scheme may result in frequent changes in the primary target vehicle selection, causing the vehicle's longitudinal speed to jump according to the speed of the primary target vehicle, which affects the driver's driving experience. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a two-wheeled vehicle with a better driving experience and its adaptive cruise control method.

[0005] In a first aspect, this application provides a two-wheeled vehicle, including a frame, body panels, a running system, a power system, and an electrical system; the body panels at least partially cover the frame; the running system at least partially lies beneath the frame; the power system is at least partially supported by the frame to drive the running system; the electrical system is at least used to implement the adaptive cruise control function of the two-wheeled vehicle; the electrical system includes an external environment detection device and an auxiliary driving control device; the external environment detection device is at least capable of identifying multiple forward target vehicles in front of the two-wheeled vehicle, acquiring lane information and lateral distance information of the multiple forward target vehicles, and calculating the acceleration difference between the multiple forward target vehicles and the two-wheeled vehicle respectively; the auxiliary driving control device is capable of selecting the main target vehicle for adaptive cruise following from the multiple forward target vehicles based on the lane information, the acceleration difference, and the lateral distance information according to preset selection conditions when the two-wheeled vehicle is in adaptive cruise mode, and accurately determining the torque request required for adaptive cruise control; the power system is capable of responding to the torque request to adjust the speed of the two-wheeled vehicle.

[0006] Preferably, the preset selection criteria include: the priority of the lane information, the acceleration difference, and the lateral distance information decreases sequentially during the selection of the primary target vehicle.

[0007] Preferably, the preset selection conditions include: when multiple lanes have a target vehicle in front or only the same lane has a target vehicle in front, select one target vehicle in the same lane as the main target vehicle; when there are multiple target vehicles in the same lane as the two-wheeled vehicle, select one target vehicle with an acceleration difference value lower than a preset acceleration difference threshold as the main target vehicle; when there are no target vehicles in front with a speed difference value lower than the preset acceleration difference threshold, select the target vehicle with the smallest acceleration difference value as the main target vehicle; when there are multiple target vehicles in front with an acceleration difference value lower than the preset acceleration difference threshold, select the target vehicle with the smallest lateral distance information as the main target vehicle.

[0008] Preferably, the acceleration difference threshold range is 0.25-0.5 m / s².

[0009] Preferably, the external environment detection device includes a front radar module, which is installed in front of the two-wheeled vehicle to obtain lateral distance information between the target vehicle in front and the two-wheeled vehicle and to calculate the acceleration difference.

[0010] Preferably, the front radar module is configured with a preset target lateral distance threshold; the lane information of the target vehicle in front is obtained by comparing the lateral distance information with the target lateral distance threshold.

[0011] Preferably, the external environment detection device further includes a rear camera module, which is installed at the rear of the two-wheeled vehicle; the rear camera module is used to acquire image data of the rear of the two-wheeled vehicle and identify the rear lane lines in the image data; and determine the lane position of the two-wheeled vehicle based on the rear lane lines to adjust the target lateral distance threshold.

[0012] Preferably, the target lateral distance threshold is set in the range of 1.1m to 1.8m.

[0013] Preferably, the external environment detection device includes a front camera module, which is disposed in front of the two-wheeled vehicle; the front camera module is used to acquire image data in front of the two-wheeled vehicle and identify the lane lines and target vehicles in front of the image data to obtain the lane information of the target vehicles in front.

[0014] On the other hand, this application also provides an adaptive cruise control method for a two-wheeled vehicle, the two-wheeled vehicle including at least a power system and an electrical system; the electrical system is at least capable of implementing adaptive cruise control function, calculating the required torque request when the two-wheeled vehicle is in adaptive cruise mode; the power system is used to respond to the torque request; the adaptive cruise control method includes: the two-wheeled vehicle identifying multiple forward target vehicles and acquiring lane information and lateral distance information of the forward target vehicles respectively; calculating the acceleration difference between the forward target vehicles and the two-wheeled vehicle; when the two-wheeled vehicle is in adaptive cruise mode, selecting the main target vehicle for adaptive cruise following from the multiple forward target vehicles according to preset selection conditions based on the lane information, the acceleration difference, and the lateral distance information, and calculating the corresponding torque request required for adaptive cruise; the power system responds to the torque request to adjust the speed of the two-wheeled vehicle.

[0015] This application describes a two-wheeled vehicle that identifies multiple target vehicles ahead and acquires their lane information and lateral distance information. It calculates the acceleration difference between the target vehicles and the two-wheeled vehicle. When the two-wheeled vehicle is in adaptive cruise control mode, it selects the primary target vehicle for adaptive cruise control from among the multiple target vehicles based on the lane information, acceleration difference, and lateral distance information, and calculates the corresponding torque request required for adaptive cruise control. The powertrain responds to the torque request to adjust the vehicle speed. This makes the selection of the primary target vehicle in adaptive cruise control more stable, preventing frequent changes in the primary target vehicle, further smoothing speed changes during adaptive cruise control and improving the driving experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional schematic diagram of a two-wheeled vehicle provided by the present invention.

[0018] Figure 2 A system block diagram of the driving assistance system provided by the present invention.

[0019] Figure 3 A schematic diagram of the detection range of the external environment detection device provided by the present invention.

[0020] Figure 4 A flowchart of the vehicle following method provided by the present invention.

[0021] Figure 5 A flowchart of the main target selection method provided by the present invention.

[0022] Figure 6 This is one of the application scenarios of the main target selection method provided by the present invention.

[0023] Figure 7 This is the second schematic diagram illustrating the application scenario of the main target selection method provided by the present invention.

[0024] Figure 8 A flowchart of the curve speed control method provided by the present invention.

[0025] Figure 9 The curve of the limited speed for curves provided by the present invention.

[0026] Figure 10 This is one of the application scenarios of the curve speed control method provided by the present invention.

[0027] Figure 11 The curve diagram showing the limiting of cornering acceleration provided by this invention.

[0028] Figure 12 This is the second schematic diagram illustrating the application scenario of the curve speed control method provided by the present invention. Detailed Implementation

[0029] 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, and 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.

[0030] like Figure 1As shown, a two-wheeled vehicle 100 includes a frame 11, a body panel 12, a running system 13, a power system 14, and a steering system 15. The frame 11 forms the basic framework of the two-wheeled vehicle 100 and supports other components of the two-wheeled vehicle 100. The body panel 12 at least partially covers the frame 11. The running system 13 is at least partially disposed below the frame 11 and includes a front wheel and a rear wheel disposed on the underside of the frame 11. The power system 14 of the two-wheeled vehicle 100 is at least partially supported by the frame 11 and provides power for the operation of the two-wheeled vehicle 100. At least one of the front wheel and the rear wheel is driveably connected to the power system 14. The power system 14 of the two-wheeled vehicle 100 can be an internal combustion engine, an electric motor, or a combination of both. The two-wheeled vehicle 100 also includes a saddle assembly 121, which is supported by the frame 11 and is at least partially located above the power system 14; a steering system 15 is disposed on the front of the frame 11 and is used to control the direction of movement of the two-wheeled vehicle 100. The two-wheeled vehicle can be a motorcycle, electric motorcycle, electric bicycle, or electric moped, etc.

[0031] For ease of description of the technical solutions in this application, the following are also defined: Figure 1 The directions shown are front, back, left, right, up, and down. The front-back direction refers to the length of the two-wheeled vehicle 100, the left-right direction refers to the width of the two-wheeled vehicle 100, and the up-down direction refers to the height of the two-wheeled vehicle 100. It should be noted that the directions defined in this embodiment refer to the directions of the two-wheeled vehicle 100 when it is on a horizontal road surface.

[0032] The two-wheeled vehicle 100 also includes an electrical system 20 to enhance the safety and convenience of the driver during driving. In this embodiment, the electrical system 20 is at least capable of implementing Adaptive Cruise Control (ACC), one of the various driver assistance functions.

[0033] See Figure 2 The electrical system 20 includes an external environment detection device 21, a vehicle sensing device 22, an auxiliary driving control device 23, a human machine interface (HMI) device 24, and a drive control device 25.

[0034] The external environment detection device 21 can acquire information about target objects in the external environment; the vehicle sensor device 22 can acquire vehicle information of the two-wheeled vehicle 100 itself; the auxiliary driving control device 23 receives information about external target objects acquired by the external environment detection device 21 and vehicle information of the two-wheeled vehicle 100 acquired by the vehicle sensor device 22, and outputs auxiliary control signals to the drive control device 25 and the human-machine interface device 24 based on the calculation and analysis results of the above information; the drive control device 25 controls the torque signal output by the power system 14 under the auxiliary control signal; the human-machine interface device 24 serves as the interface for human-machine interaction, providing prompts to the driver and allowing the driver to perform mode switching operations.

[0035] It should be noted that, Figure 2 The structure shown is just one example; you can omit part of the structure or add other structures.

[0036] like Figure 2 As shown, the external environment detection device 21 includes at least a front radar module 211 and a front camera module 212. The front radar module 211 and the front camera module 212 cooperate to identify the front target vehicle in the front detection area and acquire the lane information, lateral distance information and speed information of the front target vehicle.

[0037] The front radar module 211 and the front camera module 212 are basically installed at the front of the two-wheeled vehicle 100 and are used to acquire information about target objects in front of the two-wheeled vehicle 100. The front radar module 211 and the front camera module 212 are the main external environment detection devices for realizing the ACC function. The rear radar module 213 and the rear camera module 214 are basically installed at the rear of the two-wheeled vehicle 100 and are used to acquire information about target objects behind the two-wheeled vehicle 100. The side radar module 215 and the side camera module 216 are basically installed on both sides of the two-wheeled vehicle 100 and are used to acquire information about target objects on the sides of the two-wheeled vehicle 100.

[0038] Specifically, the vertical centerline of the front radar module 211 intersects the longitudinal centerline of the frame 11, and the front radar module 211 is located above the front wheel, so that the front radar module 211 can obtain a detection range symmetrical about the longitudinal centerline of the frame 11.

[0039] The front radar module 211 employs millimeter-wave radar, such as a 77GHz millimeter-wave radar. The front radar module 211 can emit electromagnetic waves at a preset angle. When these waves encounter a target object, they are reflected, generating an echo. The receiving antenna of the front radar module 211 captures and analyzes the reflected echo signal to extract effective information about the target object. This effective information includes at least the distance between the target object and the front of the vehicle, the speed of the target object, the angle between the target object and the front of the vehicle, and the classification information of the target object.

[0040] The distance information between the target object in front and the front of the vehicle is calculated using the time difference between the transmitted and received signals by the front radar module 211. The speed information of the target object is determined by the front radar module 211 using the Doppler effect, analyzing the frequency changes of the reflected signal. The angle information between the target object and the front of the vehicle is determined by the front radar module 211 using the phase difference of the received signals from the antenna array. For target detection and classification, the front radar module 211 analyzes whether the reflected signal constitutes a target point cloud, and based on the distance, speed, acceleration, and other information of the point cloud, associates multiple point clouds with similar conditions to form a target feature, thereby detecting and classifying the target, such as distinguishing pedestrians and vehicles. Furthermore, the front radar module 211 can also obtain the longitudinal and lateral distance information between the target object and the vehicle using the distance information and the angle information between the target object and the front of the vehicle.

[0041] The vertical centerline of the front camera module 212 intersects the longitudinal centerline of the frame 11, and the front camera module 212 is located above the front wheel, so that the front radar module 211 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0042] The front camera module 212 employs an auxiliary driving camera, such as a telephoto auxiliary driving camera. This camera can capture images of objects in front of the two-wheeled vehicle, outputting high-resolution frontal image data. Simultaneously, the auxiliary driving camera can perform image processing and recognition algorithms on the captured frontal image data to output information about the type and location of the target object, such as vehicles, pedestrians, lane lines, and traffic signs. Furthermore, to reduce the impact of vehicle vibrations on the image clarity captured by the auxiliary driving camera, optical image stabilization technology can be integrated to output stable image data.

[0043] See Figure 3The detection area of ​​the front radar module 211 is a fan-shaped area formed by the front area S1 and the middle area S3; the shooting range of the front camera module 212 is a fan-shaped area formed by the left and right side areas S2 and the middle area S3; specifically, the maximum detection range of the front radar module 211 can reach 200 meters, and the horizontal detection field of view angle is between 28 degrees and 35 degrees.

[0044] The front camera module 212 has a clear identification range of 80 to 125 meters, and a horizontal field of view of 45 to 55 degrees. Area S3 is the area jointly covered by the front radar module 211 and the front camera module 212, and can simultaneously acquire radar position information and image data. Therefore, area S3 is used as the front detection area for the ACC function. Of course, the front detection area for the ACC function can be adjusted to a range smaller or larger than area S3 according to the actual situation.

[0045] In one embodiment, the maximum detection distance of the front detection area S3 of the ACC function is 100 meters, and the horizontal angle of the detection coverage is 30 degrees.

[0046] The vehicle sensing device 22 includes a wheel speed sensor 221 and an inertial measurement unit 222, which acquire speed-related information of the vehicle. The driver assistance control device 23 acquires lane information and lateral distance information based on the external environment detection device 21 and the vehicle sensing device 22, and calculates the acceleration difference using the speed-related information of the target vehicle in front and the speed-related information of the vehicle itself. The driver assistance control device 23 is configured to select a primary target vehicle from multiple target vehicles based on a preset selection rule for the primary target vehicle, considering lane information, acceleration difference, and lateral distance information, with the priority of lane information, acceleration difference, and lateral distance information decreasing sequentially in the preset selection rule.

[0047] The ACC function includes a following mode and a cruise mode. The following mode means that when the external environment detection device 21 detects a target vehicle in front of the two-wheeled vehicle 100, the driver assistance control device 23 will increase or decrease the speed of the two-wheeled vehicle 100 as needed and maintain a certain following distance from the target vehicle. The cruise mode means that when the external environment detection device 21 detects that there is no vehicle in front of the two-wheeled vehicle, the driver assistance control device 23 will control the two-wheeled vehicle 100 to maintain a set cruise speed according to the road conditions.

[0048] like Figure 4 As shown, in order to achieve the above-mentioned ACC following mode, this application discloses an adaptive cruise control method, including:

[0049] Step S110: Select the primary target vehicle for adaptive cruise based on the primary target selection strategy.

[0050] Step S120: Based on the acquired speed information of the main target vehicle and the distance information between the two-wheeled vehicle and the main target vehicle, calculate the following acceleration value of the vehicle.

[0051] Step S130: Based on the following acceleration value of the two-wheeled vehicle, calculate the ACC torque and output the ACC torque request.

[0052] Step S140: Perform torque arbitration on the ACC torque request and output the arbitration torque based on the torque arbitration strategy.

[0053] Step S150: The two-wheeled vehicle responds to the arbitration torque.

[0054] Using the aforementioned following method, the two-wheeled vehicle 100 can select a suitable target vehicle as the primary target vehicle from among multiple target vehicles during its operation. By using the distance information and acceleration difference with the primary target vehicle, the acceleration value of the two-wheeled vehicle 100 is controlled to maintain a set following distance. Simultaneously, the ACC torque request requires torque arbitration at the drive control device 25. In ACC following mode, the driver can also control the speed of the two-wheeled vehicle 100 to adapt to various scenarios.

[0055] Once the primary target vehicle is identified, its speed information and the distance between the two-wheeled vehicle 100 and the primary target vehicle can be obtained by the external environment detection device 21. In this scenario, the driver assistance control device 23, combined with the acceleration information of the two-wheeled vehicle 100, can calculate the required following acceleration value for the two-wheeled vehicle 100.

[0056] In step S120, when the distance between the two-wheeled vehicle 100 and the main target vehicle is greater than the preset following distance, the driver assistance control device 23 will obtain the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the main target vehicle, and gradually decrease the distance between the two-wheeled vehicle and the main target vehicle. When the distance between the two-wheeled vehicle 100 and the main target vehicle is less than the preset following distance, the driver assistance control device 23 will obtain the following acceleration based on the relative speed between the two-wheeled vehicle 100 and the main target vehicle, and gradually increase the distance between the two-wheeled vehicle 100 and the main target vehicle.

[0057] In step S120, after the assisted driving control device 23 obtains the following acceleration value of the vehicle, the vehicle speed control module 232 of the assisted driving control device 23 calculates the ACC torque and outputs the ACC torque request to the drive control device 25.

[0058] In step S130, the torque arbitration module of the drive control device 25 arbitrates the torque requests from the driver assistance control device 23, the accelerator lever, and the two-wheeled vehicle ABS. The torque arbitration strategy prioritizes safe driving, followed by non-misoperational manual driving, and then autonomous driving.

[0059] In torque arbitration, safety-related torque requests have the highest priority. This means that torque requests from safety systems, such as ABS (Anti-lock Braking System) and / or TC (Traction Control System), have the highest priority and must be responded to first to ensure vehicle safety. Manual driving torque requests have the second highest priority, meaning that during ACC (Adaptive Cruise Control), torque requests can be used to control the speed of the two wheels of the vehicle by controlling the accelerator or brake levers; however, very short or minimal accelerator lever rotations are considered misoperations and will not be responded to in torque arbitration. Autonomous driving has the third highest priority and is only executed if neither safe driving nor manual driving requests are made.

[0060] In summary, the ACC function of the two-wheeled vehicle 100 can be realized through the detection of the external environment detection device 21 and the control of the auxiliary driving control device 23.

[0061] Furthermore, to enable two-wheeled vehicles to select a suitable primary target vehicle from among multiple target vehicles, and to avoid frequent changes in the primary target selection, which could negatively impact the driver's experience, such as... Figure 5 As shown, this application discloses a method for selecting a vehicle owner target, including:

[0062] Step S210: Identify the target vehicle in the front detection area.

[0063] Step S220: Select the target vehicle in front in the same lane as the target candidate vehicle.

[0064] Step S230: Determine whether there is only one target vehicle to be selected.

[0065] If the judgment result is yes, then the process ends after executing step S231; if the judgment result is no, then the process ends after executing step S232.

[0066] Step S231: Select the target vehicle as the primary target vehicle.

[0067] Step S232: Based on the speed-related information of the target vehicle and the speed-related information of the two-wheeled vehicle, calculate the acceleration difference between the two-wheeled vehicle and the target vehicle.

[0068] Step S240: Determine whether there is a target vehicle whose acceleration difference is lower than a preset acceleration difference threshold.

[0069] If the judgment result is yes, then proceed to step S250 after step S241; if the judgment result is no, then proceed to step S242.

[0070] Step S241: Select a target vehicle with an acceleration difference lower than the preset threshold from multiple target vehicles.

[0071] Step S242: Select the target vehicle with the smallest acceleration difference from multiple target vehicles.

[0072] Step S250: Determine whether there is only one target vehicle to be selected.

[0073] If the judgment result is yes, then the process ends after executing step S251; if the judgment result is no, then the process ends after executing step S252.

[0074] Step S251: Select the target vehicle as the primary target vehicle.

[0075] Step S252: Based on the distance information of the target candidate vehicle, calculate the lateral distance between the target candidate vehicle and the two-wheeled vehicle, and select the target candidate vehicle with the smallest lateral distance from multiple target candidate vehicles as the main target vehicle.

[0076] Specifically, the preset selection rules for the primary target vehicle include preset selection rules for lane information, preset selection rules for acceleration difference, and preset selection rules for lateral distance information.

[0077] The lane information selection rule is as follows: when there are target vehicles in front in multiple lanes or only in the same lane, select one target vehicle in front in the same lane as the primary target vehicle.

[0078] The preset selection rule for acceleration difference is as follows: when there are multiple target vehicles in the same lane as the two-wheeled vehicle, the target vehicle with an acceleration difference value lower than the preset acceleration difference threshold is selected as the main target vehicle. When there are no target vehicles in front with an acceleration difference value lower than the preset acceleration difference threshold, the target vehicle with the smallest acceleration difference threshold value is selected as the main target vehicle.

[0079] The preset selection rule for lateral distance information is: when there are multiple front target vehicles with acceleration differences lower than the preset acceleration difference threshold, the front target vehicle with the smallest lateral distance information is selected as the main target vehicle.

[0080] In step S210, refer to Figure 3The external environment detection device 21 acquires the front target vehicle in the front detection area S3 through the front radar module 211 and the front camera module 212.

[0081] In one embodiment of step S220, a primary target vehicle is selected based on lane information and preset selection rules. The front radar module 211 calculates the lateral distance between the primary target vehicle and the vehicle itself. If the lateral distance between the primary target vehicle and the vehicle itself is less than a target lateral distance threshold, it is determined that the primary target vehicle and the vehicle belong to the same lane; otherwise, they do not belong to the same lane. Further, the lateral distance calculated by the front radar module 211 is the minimum lateral distance between the primary target vehicle and the vehicle itself, i.e., the lateral distance between the lateral centerline of the primary target vehicle and the vehicle itself. The target lateral distance threshold is an adjustable value that can be adjusted according to actual conditions. The target lateral distance threshold is set within the range of 1.1m to 1.8m.

[0082] In one embodiment of step S220, the front camera module 212 performs image processing and recognition algorithms on the front image data it captures to identify a target vehicle in front that is within the lane lines as a vehicle in the same lane. Simultaneously, in this embodiment, a target lateral distance threshold set by the front radar module 211 can be used to further filter vehicles in the same lane.

[0083] In one embodiment of step S220, the external environment detection device 21 further includes a rear camera module 214. The front radar module 211 calculates the lateral distance between the target vehicle in front and the vehicle itself. The rear camera module 214 performs image processing and recognition algorithms on the rear image data it captures to identify rear lane lines. Based on the distances of the left and right rear lane lines from the center line, it adjusts the target lateral distance thresholds on the left and right sides of the vehicle. For example, if the rear camera module 214 identifies rear lane lines, and the left lane line is 1.5 meters from the center line and the right lane line is 2 meters from the center line, then the target lateral distance threshold on the left side of the vehicle is adjusted to 1.5 meters, and the target lateral distance threshold on the right side of the vehicle is adjusted to 1.8 meters.

[0084] The external environment detection device 21 also includes a rear radar 213. The vertical centerline of the rear radar module 213 intersects the longitudinal centerline of the frame 11, and the rear radar module 213 can be located below the taillights, so that the rear radar module 213 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0085] Specifically, the rear radar module 213 employs millimeter-wave radar, such as a 77GHz millimeter-wave radar. The rear radar module 213 can emit electromagnetic waves at a preset angle. When these waves encounter a target object, they are reflected, generating an echo. The receiving antenna of the rear radar module 213 captures the reflected echo signal. The signal processing unit of the rear radar module 213 analyzes the received echo signal and extracts valid information about the rear target object. This valid information includes at least the distance between the target object and the rear of the vehicle, the speed of the target object, the angle between the target object and the rear of the vehicle, and the classification information of the target object. Since the method by which the rear radar module 213 acquires valid information is the same as that of the front radar module 211, it will not be described further.

[0086] The vertical centerline of the rear camera module 214 coincides with the longitudinal centerline of the frame 11. The rear camera module 214 can be located below the taillight, so that the rear camera module 214 can obtain a shooting range symmetrical about the longitudinal centerline of the frame 11.

[0087] The rear camera module 214 can be a multi-purpose camera that combines blind spot detection (BSD) and dashcam functions. The multi-purpose camera captures images of objects behind the two-wheeled vehicle 100, outputting high-resolution rear image data. Simultaneously, the rear camera module 214 can perform image processing and recognition algorithms on the captured rear image data to output the type and location information of the target object. Furthermore, the video stream data output by the rear camera module 214 can also be used for dashcam recording or real-time monitoring of the rear of the two-wheeled vehicle 100.

[0088] See Figure 3 The detection area of ​​the rear radar module 213 is the outer fan-shaped area S4; the shooting range of the rear camera module 214 is the middle fan-shaped area S5. Specifically, the detection area of ​​the rear radar module 213 can detect up to 80 meters using the long-range recognition range of the radar, and the horizontal detection field of view is between 145 degrees and 155 degrees. The shooting range of the front camera module 212 is clearly visible at a maximum distance of about 30 meters, and the horizontal field of view of the shooting range is usually between 115 degrees and 120 degrees.

[0089] Reference Figure 6Two-wheeled vehicle C1 is traveling in the middle lane. In step S210, two-wheeled vehicle C1 detects two-wheeled vehicles C2, C3, and C4 in the front detection area S3. In step S220, it is determined that two-wheeled vehicle C3 and two-wheeled vehicle C1 are in the same lane, and two-wheeled vehicle C3 is selected as the target vehicle. Then, in step S230, it is determined that the only target vehicle is two-wheeled vehicle C3. Therefore, in step S231, two-wheeled vehicle C3 is selected as the primary target vehicle for two-wheeled vehicle C1.

[0090] Reference Figure 7 Two-wheeled vehicle C1 is traveling in the middle lane. In step S210, two-wheeled vehicle C1 detects two-wheeled vehicles C2, C3, C4, and C5 in the front detection area S3. In step S220, it is determined that two-wheeled vehicle C3, two-wheeled vehicle C5, and two-wheeled vehicle C1 are in the same lane, and two-wheeled vehicles C3 and C5 are selected as target vehicles. In step S230, it is determined that the target vehicles include two-wheeled vehicles C3 and C5, not just one. In step S232, the acceleration differences between two-wheeled vehicle C1 and two-wheeled vehicles C3 and C5 in the same lane need to be obtained separately.

[0091] In one embodiment of step S232, the front radar module 211 acquires the speed information of the target vehicle. Specifically, the front radar module 211 utilizes the Doppler effect to determine the current speed information v of the target vehicle by analyzing the frequency changes of the reflected signal. front (t), and continuously acquires the current speed information v of the target candidate vehicle at measurement time intervals of Δt. front (t+Δt). The inertial measurement unit 222 acquires the current longitudinal acceleration information a of the vehicle. self (t). The function of calculating the acceleration difference between the vehicle and the target vehicle is performed by the driver assistance control device 23, which continuously acquires the current speed information v of the target vehicle. front (t) and the vehicle's current acceleration information a self (t), and the acceleration difference a of the target vehicle is calculated using the acceleration difference formula (1-1). diff (t).

[0092]

[0093] In one embodiment of step S232, the front radar module 211 acquires the speed information of the target vehicle. Specifically, the front radar module 211 utilizes the Doppler effect to determine the current speed information v of the target vehicle by analyzing the frequency changes of the reflected signal. front (t), and continuously acquires the current speed information v of the target candidate vehicle at measurement time intervals of Δt.front (t+Δt). Wheel speed sensor 221 acquires the vehicle's speed information, and wheel speed sensor 221 acquires the vehicle's current speed information v. self (t), and continuously acquire the vehicle's current speed information v at measurement time intervals of Δt. self (t+Δt). The calculation of the acceleration difference between the vehicle and the target vehicle is performed by the driver assistance control device 23, which continuously acquires the current speed information v of the target vehicle. front (t) and the vehicle's current speed information v self (t), and calculate the current acceleration value a of the vehicle using the acceleration difference formula (1-2). self (t).

[0094]

[0095] And the acceleration difference 'a' between the target vehicle and the vehicle itself is obtained using the acceleration difference formula (1-3). diff (t).

[0096]

[0097] Since the acceleration values ​​of the preceding vehicle and the driving vehicle are instantaneous, their values ​​will change during the measurement time interval, making it impossible to achieve perfect accuracy. Therefore, an acceleration difference threshold is built into the driver assistance control device 23. This threshold provides a range of acceleration differences, within which values ​​can be considered as being at the same acceleration as the driving vehicle. In this embodiment, the acceleration difference threshold range is 0.25-0.5 m / s². 2 Preferably, the acceleration difference threshold is 0.3 m / s². 2 .

[0098] Continue to refer to Figure 7 After calculating the acceleration differences between two-wheeled vehicles C1 and C3, and between two-wheeled vehicles C1 and C5 in step S232, the process proceeds to step S240. Based on a preset selection rule for acceleration differences, the acceleration differences between the two vehicles are compared with acceleration difference thresholds. For ease of understanding, three scenarios are listed below.

[0099] In the first scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.24 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.28 m / s². 2 The difference in acceleration between the two is less than the acceleration difference threshold of 0.3 m / s². 2In step S240, it is determined that the acceleration difference of the target candidate vehicles is lower than a preset acceleration difference threshold. Then, proceed to step S241, where both two-wheeled vehicles C3 and C5 are selected as target candidate vehicles.

[0100] In the second scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.24 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.36 m / s². 2 Only the acceleration difference of the two-wheeled vehicle C3 is less than the acceleration difference threshold of 0.3 m / s². 2 In step S240, it is determined that the acceleration difference of a target candidate vehicle is lower than a preset acceleration difference threshold. Then, proceed to step S241, and select the two-wheeled vehicle C3 as the target candidate vehicle.

[0101] In the third scenario, the acceleration difference between the two-wheeled vehicles C3 is 0.32 m / s². 2 The acceleration difference of the two-wheeled vehicle C5 is 0.36 m / s². 2 The acceleration difference between two-wheeled vehicles C3 and C5 is greater than the acceleration difference threshold of 0.3 m / s². 2 In step S240, it is determined that there is no target vehicle whose acceleration difference is lower than a preset acceleration difference threshold. Then, in step S242, the two-wheeled vehicle C3 with the smallest acceleration difference is selected as the target vehicle.

[0102] In step S250, it is determined whether there is only one target vehicle. Therefore, in both the second and third cases described above, only the two-wheeled vehicle C3 is a target vehicle, so the process proceeds to step S251, where the two-wheeled vehicle C3 is selected as the primary target.

[0103] In the first scenario, both two-wheeled vehicles C3 and C5 are considered as target vehicles. In step S252, the lateral distances between the target vehicles and the vehicle are calculated, and the vehicle with the smallest lateral distance is selected as the primary target. This requires calculating the lateral distances between two-wheeled vehicle C3 and the vehicle's own two-wheeled vehicle C1, as well as the lateral distances between two-wheeled vehicle C5 and the vehicle's own two-wheeled vehicle C1.

[0104] Reference Figure 7 The front radar module 211 calculates the lateral distance D1 between the centerline of two-wheeled vehicle C3 and the centerline of its own two-wheeled vehicle C1, and the lateral distance D2 between the centerline of two-wheeled vehicle C5 and the centerline of its own two-wheeled vehicle C1, using the distance information between the target vehicle and the front of its own vehicle, as well as the angle information between the target vehicle and the front of its own vehicle. The vehicle planning module compares the lateral distances D1 and D2 and selects the two-wheeled vehicle C5, which has the smallest lateral distance, as the primary target.

[0105] In summary, this primary target selection method improves the driving experience by sequentially reducing the priority of lane information, acceleration difference, and lateral distance information of the target vehicle in the preset selection rules. This ensures that a suitable primary target vehicle is selected while also preventing a sudden change in the acceleration of the two-wheeled vehicle after the primary target vehicle is selected.

[0106] With adaptive cruise control, the situation on curves is more complex than on straight roads. When driving on curves, because the front radar and front camera of a two-wheeled vehicle are facing forward, it is easy to lose sight of the main target vehicle when the road curvature is large. Therefore, the two-wheeled vehicle needs to adjust its speed according to the road curvature and vehicle status to ensure safety.

[0107] like Figure 8 As shown, this application also discloses a method for controlling cornering speed, comprising:

[0108] Step S410: Obtain the curve radius based on the recognition of lane lines.

[0109] Step S420: Based on the curve radius, obtain the curve limit speed through the preset curve limit speed rules.

[0110] Step S430: Determine whether the speed of the main target vehicle is greater than the speed limit for the curve.

[0111] If the judgment result is yes, proceed to step S431; if the judgment result is no, proceed to step S432.

[0112] Step S431: Generate the deceleration value of the two-wheeled vehicle based on its speed value.

[0113] Step S432: Generate the acceleration value of the two-wheeled vehicle based on the speed information of the main target vehicle.

[0114] Step S440: Determine whether the primary target vehicle has been lost.

[0115] If the judgment result is yes, proceed to step S441; if the judgment result is no, return to step S430.

[0116] Step S441: Obtain the curve limit speed value as the cruise target speed value.

[0117] Step S450: Based on the current speed of the two-wheeled vehicle, obtain the cornering acceleration value through the preset cornering acceleration limit rules.

[0118] Step S460: Output torque request based on cornering acceleration value.

[0119] The driver assistance control device 23 obtains the curve limit speed based on the curve radius and sets the curve limit speed value as the maximum following speed value of the two-wheeled vehicle 100 following the main target vehicle and the maximum cruising speed value of the two-wheeled vehicle 100 when it loses the main target vehicle.

[0120] When the current speed of the two-wheeled vehicle 100 exceeds the cornering speed limit, the driver assistance control device 23 generates a deceleration value based on the current speed of the two-wheeled vehicle 100. When the two-wheeled vehicle 100 loses sight of the primary target vehicle in a corner, it uses the cornering speed limit as the cruise target speed. The driver assistance control device 23 obtains the cornering acceleration value related to the cruise target speed based on the current speed of the two-wheeled vehicle 100 and converts it into a torque signal, then outputs a torque request to the drive control device 25.

[0121] In step S410, the front camera module 212 performs algorithmic recognition on the lane lines in the front image data it captures, and obtains the curve radius corresponding to the lane lines through image processing after the recognition is completed.

[0122] In step S420, the driver assistance control device 23 is configured with a curve limit speed rule that maps curve radius to curve limit speed. After receiving the curve radius, the driver assistance control device 23 can obtain the curve limit speed by comparing the curve radius with the curve limit speed rule.

[0123] like Figure 9 As shown, the cornering speed limit rule in the assisted driving control device 23 adopts a cornering speed limit curve. The horizontal axis of the cornering speed limit curve represents the corner radius in meters (m), and the vertical axis represents the cornering speed limit in kilometers per hour (km / h). The cornering speed limit curve includes a front horizontal section and a rear tilt section. In one embodiment, in the front horizontal section, the cornering speed limit is controlled at 40 km / h when the corner radius is less than 125 m. In the rear tilt section, the corner radius is between 125 m and 800 m, and the cornering speed limit changes linearly from 40 km / h to 120 km / h; when the corner radius is greater than 800 m, the cornering speed limit is controlled at 120 km / h.

[0124] To ensure the safety of the two-wheeled vehicle when cornering, in step S430, it is determined whether the speed of the target vehicle is greater than the cornering speed limit. If the target vehicle's speed is greater than the vehicle's cornering speed limit, the process proceeds to step S431, where a deceleration value is generated based on the cornering speed limit. The vehicle no longer maintains a cruising distance with the target vehicle, allowing it to reduce to a safe speed before entering the corner. If the target vehicle's speed is less than or equal to the vehicle's cornering speed limit, the process proceeds to step S432, where an acceleration value is generated based on the target vehicle's speed information. The vehicle can then maintain a cruising distance with the target vehicle while entering the corner.

[0125] In step S431, the deceleration value of the vehicle is generated based on its current speed. The vehicle's current speed is then compared to the deceleration limit curve for Normal mode, and the corresponding deceleration value is obtained from the Normal mode deceleration limit curve to ensure a safe decrease in vehicle speed. Of course, in other scenarios, the deceleration limit curves for Sport or ECO modes can also be used. Figure 10 As shown, the two-wheeled vehicle C1 is traveling in the middle lane. In step S430, the radius of the upcoming curve is obtained by recognizing the lane lines; for example, the curve radius is 350m. In step S431, the curve is compared with... Figure 9 Based on the obtained curve radius and the curve speed limit curve, the curve speed limit is determined to be 66.7 km / h. Two-wheeled vehicle C1 detects two-wheeled vehicles C2 and C3 ahead in the forward detection area S3. Two-wheeled vehicle C2 is in the adjacent lane of two-wheeled vehicle C1, while two-wheeled vehicle C3 is in the same lane as two-wheeled vehicle C1. Two-wheeled vehicle C1, according to the primary target selection strategy, selects two-wheeled vehicle C3 in the same lane as the primary target vehicle. Specifically, in order to obtain lane information of vehicles ahead in the curve, the front camera module 212 needs to identify the curve lane lines and accurately identify the vehicles in the same lane as the primary target vehicles within the curve lane lines.

[0126] Then, in step S430, the cornering speed limit of the two-wheeled vehicle C1 is compared with the speed of the main target vehicle, the two-wheeled vehicle C3, to determine whether the speed of the main target vehicle is greater than the cornering speed limit. For example, if the speed of the main target vehicle C3 is 70 km / h, then the speed of the main target vehicle C3 (70 km / h) is greater than the cornering speed limit of 66.7 km / h. Therefore, in step S431, the two-wheeled vehicle C1 obtains the real-time deceleration value based on the cornering speed and the deceleration limit curve of the normal mode. The deceleration value compared to the normal mode deceleration limit curve at a speed of 70 km / h is 2.5 m / s². 2 Therefore, in step S431, the two-wheeled vehicle C1 will gradually decrease to 66.7 km / h before entering the curve.

[0127] Because excessive speed before a two-wheeled vehicle enters a corner will cause it to decelerate to the cornering speed limit. In most cases, the vehicle's speed when entering a corner will be less than or equal to the cornering speed limit. If the vehicle's speed is less than the cornering speed limit when entering a corner, and the main target vehicle is lost, the two-wheeled vehicle may accelerate directly according to the normal acceleration limit curve, which may create a sudden acceleration sensation and affect the driving experience.

[0128] In step S440, if it is determined that the main target vehicle has not been lost, the process proceeds to step S432, where the vehicle's acceleration value is generated based on the speed information of the main target vehicle, maintaining following the main target vehicle. If, in step S440, it is determined that the main target vehicle has been lost, in order to avoid a sudden acceleration sensation, in step S441, the two-wheeled vehicle will enter a cruise mode with a curve-limited speed as the cruise target speed. This ensures the safety of the two-wheeled vehicle when driving on curves.

[0129] In step S450, the driver assistance control device 23 compares the current speed information with the cornering acceleration limit rules to obtain the cornering acceleration value, preventing a sudden acceleration sensation due to target loss. The driver assistance control device 23 is configured with cornering acceleration limit rules that map the current speed value and cornering acceleration value of the two-wheeled vehicle. The mapping relationship between the current speed value and cornering acceleration value of the two-wheeled vehicle in the cornering acceleration limit rules is achieved through one or more of the following: mathematical expression, fitted curve, or preset curve. In this embodiment, the cornering acceleration limit rule adopts a cornering acceleration limit curve obtained through a fitted curve.

[0130] like Figure 11 As shown, the curve represents the vehicle's current speed in km / h on the horizontal axis and the maximum acceleration limit in the curve on the vertical axis in m / s². 2 Acceleration limiting curves all include a forward sloping section and a rear horizontal section. The forward sloping section is generally used when the current speed is between 10 km / h and 60 km / h. In the forward sloping section, the higher the current speed, the lower the acceleration limit value, to ensure safety in various modes. The rear horizontal section is generally used when the current speed is greater than 60 km / h. In the rear horizontal section, the acceleration limit value is kept at the minimum limit value.

[0131] like Figure 12 As shown, two-wheeled vehicle C1 is traveling on a curve in the middle lane. In the forward detection area S3, two-wheeled vehicle C1 detects only two-wheeled vehicle C2 ahead, while the original primary target vehicle, two-wheeled vehicle C3, leaves the ACC function area S3. In step S440, it is determined that two-wheeled vehicle C1 has lost its primary target vehicle. Then, in step S441, two-wheeled vehicle C1 enters a cruise mode with the curve's speed limit as the cruise target speed. For example, if two-wheeled vehicle C1's current speed is 60 km / h, the curve radius is 350 m, and the curve's speed limit is 66.7 km / h, then the cruise target speed for two-wheeled vehicle C1 is 66.7 km / h. Then, in step S450, at a speed of 60 km / h, by referring to the curve's acceleration limit curve, the corresponding acceleration value is obtained as 0.5 m / s². 2Therefore, the cornering acceleration of the two-wheeled vehicle C1 at this moment is 0.5 m / s². 2 In step S460, the driver assistance control device 23 outputs a torque request to the drive control device 25 based on the cornering acceleration value, and the drive control device 25 outputs torque to the power system 14.

[0132] In summary, this method adjusts the current speed and acceleration of the two-wheeled vehicle before entering a curve and while in the curve under adaptive cruise control, ensuring the safety of cornering under adaptive cruise control and avoiding discomfort to the driver caused by sudden speed changes in curves.

[0133] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A two-wheeled vehicle, comprising: a vehicle frame; a vehicle body cover at least partially covering the vehicle frame; a walking system at least partially located below the vehicle frame; a power system at least partially supported by the vehicle frame to drive the walking system; an electrical system at least for implementing an adaptive cruise control function of the two-wheeled vehicle; characterized in that the electrical system comprises: an external environment detection device capable of at least identifying a plurality of front target vehicles in front of the two-wheeled vehicle, obtaining lane information and lateral distance information of the plurality of front target vehicles and calculating acceleration difference values with the two-wheeled vehicle respectively; and an auxiliary driving control device capable of selecting a main target vehicle for adaptive cruise following from the plurality of front target vehicles based on the lane information, the acceleration difference values and the lateral distance information according to a preset selection condition when the two-wheeled vehicle is in an adaptive cruise mode, and determining a torque request required for corresponding adaptive cruise; the power system is capable of responding to the torque request to adjust the speed of the two-wheeled vehicle; the lane information, the acceleration difference values and the lateral distance information have a decreasing priority in the selection process of the main target vehicle; when there are front target vehicles in multiple lanes or only in the same lane, one front target vehicle in the same lane is selected as the main target vehicle; when there are multiple front target vehicles in the same lane as the two-wheeled vehicle, one front target vehicle with an acceleration difference value lower than a preset acceleration difference threshold is selected as the main target vehicle; when there is no front target vehicle with an acceleration difference value lower than the preset acceleration difference threshold, the front target vehicle with the smallest acceleration difference value is selected as the main target vehicle; when there are multiple front target vehicles with an acceleration difference value lower than the preset acceleration difference threshold, the front target vehicle with the smallest lateral distance information is selected as the main target vehicle. 2.The two-wheeled vehicle of claim 1, characterized in that: the preset acceleration difference threshold ranges from 0.25m / s2to 0.5m / s2. 3.The two-wheeled vehicle of claim 1, characterized in that: the external environment detection device comprises a front radar module installed in front of the two-wheeled vehicle for obtaining lateral distance information between the front target vehicle and the two-wheeled vehicle and calculating acceleration difference values. 4.The two-wheeled vehicle of claim 3, characterized in that: the front radar module is configured with a preset target lateral distance threshold; the lane information of the front target vehicle is obtained by comparing the lateral distance information with the target lateral distance threshold. 5.The two-wheeled vehicle of claim 4, characterized in that: the external environment detection device further comprises a rear camera module installed at the rear of the two-wheeled vehicle; the rear camera module is used to obtain image data behind the two-wheeled vehicle and identify rear lane lines in the image data; the lane position of the two-wheeled vehicle is determined based on the rear lane lines to adjust the target lateral distance threshold. 6.The two-wheeled vehicle of claim 5, characterized in that: the target lateral distance threshold is set in a range of 1.1m to 1.8m.

7. The two-wheeled vehicle of claim 1, wherein the external environment detection device comprises a front camera module arranged at the front of the two-wheeled vehicle, the front camera module being configured to acquire image data of the front of the two-wheeled vehicle and identify front lane lines and front target vehicles in the image data to obtain lane information of the front target vehicles.

8. An adaptive cruise control method for a two-wheeled vehicle, the two-wheeled vehicle comprising at least a power system and an electrical system, the electrical system being configured to implement an adaptive cruise control function to calculate a required torque request when the two-wheeled vehicle is in an adaptive cruise mode, and the power system being configured to respond to the torque request; characterized in that the adaptive cruise control method comprising: the two-wheeled vehicle identifying a plurality of front target vehicles in front and obtaining lane information and lateral distance information of the front target vehicles respectively, and calculating acceleration difference values between the front target vehicles and the two-wheeled vehicle; when the two-wheeled vehicle is in the adaptive cruise mode, selecting a main target vehicle for adaptive cruise following from the plurality of front target vehicles based on the lane information, the acceleration difference values and the lateral distance information according to a preset selection condition, and calculating a corresponding required torque request for adaptive cruise control; the power system responding to the torque request to adjust the speed of the two-wheeled vehicle; the lane information, the acceleration difference values and the lateral distance information decreasing in priority in the selection of the main target vehicle; when there are front target vehicles in multiple lanes or only in the same lane, selecting a front target vehicle in the same lane as the main target vehicle; when there are multiple front target vehicles in the same lane as the two-wheeled vehicle, selecting a front target vehicle with an acceleration difference value lower than a preset acceleration difference threshold as the main target vehicle; when there is no front target vehicle with an acceleration difference value lower than the preset acceleration difference threshold, selecting a front target vehicle with the smallest acceleration difference value as the main target vehicle; when there are multiple front target vehicles with an acceleration difference value lower than the preset acceleration difference threshold, selecting a front target vehicle with the smallest lateral distance information as the main target vehicle.

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