439 results about "Cruise control" patented technology

The present application relates to the technical field of autonomous driving functions, and in particular to a control method and device integrating predictive cruise and lane changing decision-making. The method comprises: receiving the accelerations, speeds and positions of a controlled autonomous driving vehicle and surrounding traffic vehicles at a current moment so as to construct an IDM microscopic following model to predict surrounding traffic vehicle states in a preset future long time domain; on the basis of the surrounding traffic vehicle states in the preset future long time domain, constructing an optimization cost function, so as to plan a lane keeping strategy or lane changing strategy; on the basis of the lane keeping strategy or lane changing strategy, using a quintic polynomial to solve for a reference path; on the basis of the reference path, establishing an optimal control problem cost function for continuous intersection predictive cruise control, so as to solve for the optimal cruise speed within a traveling lane; and sending the reference path and the optimal cruise speed within the traveling lane to the controlled autonomous driving vehicle for control. Thus, the problems that existing lane changing decision-making only considers longitudinal motion and fails to pay attention to a development trend of the surrounding environment, possible dangers and the like are solved.

The invention discloses an intelligent automobile cooperative cruise safety control method under Dos attacks and physical faults, and relates to automobile intelligent safety and automatic driving. A hierarchical control framework is adopted and comprises an observer layer and a tracking layer. The method comprises the following steps: establishing a vehicle longitudinal dynamics model and a DoS attack model for DoS attack in a V2X communication network and the problems of sensor and actuator faults and parameter isomerism of a vehicle; a completely distributed self-adaptive preset time observer based on event triggering is designed for each following vehicle in the observer layer, and rapid and accurate estimation of the state of the pilot vehicle is achieved; the method comprises the following steps: constructing an augmentation system at a tracking layer, designing a distributed intermediate observer, carrying out online estimation and compensation on faults of a sensor and an actuator, designing a distributed active fault-tolerant controller based on a fault estimation value and a pilot vehicle state estimation value, and calculating a wheel driving torque to realize safe cruise control. Multiple threats of coexistence of network attacks and physical faults are effectively handled, and the stability and safety of the cooperative cruise system are ensured.

The invention relates to the technical field of underwater desilting robot cruise control, in particular to an underwater desilting robot intelligent cruise control method based on environmental perception, and the method comprises the steps: determining a track deviation distance by measuring the position distance of an underwater desilting robot between each moment and all moments within a preset duration before; and determining a second gain adjustment coefficient based on the variation trend of the track deviation distance at all moments within a preset time period before the current moment, and determining a gain adjustment coefficient in combination with the first gain adjustment coefficient so as to optimize the gain coefficient of the sliding mode controller and control the attitude of the underwater dredging robot. According to the method, the problem of hysteresis course errors of the underwater dredging robot caused by fixed gain in traditional sliding mode control is solved, gain adaptive optimization is realized by dynamically fusing multi-source trend data, and the dredging efficiency of the underwater dredging robot is improved.

The invention discloses a commercial vehicle team cruise control method and system, computer equipment and a storage medium, and relates to the technical field of automatic driving and vehicle infrastructure cooperative control, and the method comprises the steps: carrying out the vehicle role interaction of a team vehicle according to a cooperative relation and a vehicle role interaction logic; establishing a surrounding environment potential field model, and describing an interaction relationship between vehicles inside and outside the motorcade; calculating the longitudinal and transverse potential fields of the vehicles of the fleet, and controlling the distance between the vehicles and the safe distance; a model prediction controller for team cruise is constructed by considering the target speed and the environmental influence; and the safety, speed and control constraints of vehicle movement are set, and the driving performance is optimized. The stability of formation control is enhanced, the formation requirements of complex scenes are met, the real-time dynamic control capability is improved, and the formation energy efficiency is optimized.

The invention relates to the technical field of automatic driving trajectory planning control, in particular to an optimal inter-vehicle time interval control method for cooperative cruise of a truck under a communication delay condition. According to the method, a layered control framework of truck cooperative cruise control is designed, and a vehicle safety inter-vehicle time interval model, a communication delay model and a queue collision safety model are constructed; the inter-vehicle time interval, the communication delay coefficient and the safety coefficient are quantified into space particles, optimization is carried out based on a particle swarm algorithm, and the optimal inter-vehicle time interval on the basis of guaranteeing the queue safety and the fuel economy is obtained; designing a longitudinal model predictive control (MPC) expected acceleration decision controller of truck cooperative cruise by considering multi-target constraints of safety and fuel economy in a vehicle following process to obtain an expected acceleration; and a load change-considered feedforward and active-disturbance-rejection control brake driving error compensation model is established, so that the anti-jamming capability of the model is enhanced, and the actual acceleration of the queue truck accurately follows the expected acceleration under the load change condition.

The invention discloses a car following control method and a related product. According to the scheme, multi-source data are acquired, and the multi-source data are fused to obtain a fusion result; based on the fusion result, performing multi-modal trajectory prediction on the driving behavior of the preceding vehicle to obtain a prediction result of the driving behavior of the preceding vehicle; the multi-modal trajectory prediction comprises longitudinal motion prediction and transverse motion prediction; quantifying a car following risk by using a multi-dimensional risk index to obtain a risk level; constructing a multi-target cost function based on the fusion result, the front vehicle driving behavior prediction result and a control vector, and solving the multi-target cost function by using a preset constraint condition to obtain an initial control parameter of the vehicle; and on the basis of the risk level, initial control parameters of the vehicle are adjusted, and target control parameters of the vehicle are obtained. Compared with the problem of response lag in adaptive cruise control in the prior art, the adaptive cruise control method has obvious advantages.

The invention discloses a thermal power generating unit transition peak regulation intelligent cruise control method based on an intelligent control algorithm, and relates to the technical field of intelligent control algorithms, and the method comprises the steps: constructing a distributed sensor network through deploying distributed sensors at all key positions of a thermal power generating unit, and obtaining the operation parameters of the thermal power generating unit in real time; external data are introduced and integrated, and short-term load demand prediction is generated according to an intelligent control algorithm; constructing a dynamic optimization function by combining a power grid dispatching instruction and a load prediction result and by taking the minimum coal consumption, the shortest peak regulation response time and the minimum equipment life loss as targets; adopting a hybrid algorithm of model predictive control and reinforcement learning to obtain an optimal control instruction; the control instruction is transmitted to a boiler combustion system and a steam turbine speed regulating system, and the fuel amount, the water supply amount and the valve opening degree are regulated; and dynamically adjusting model parameters and fuzzy rule weights of model prediction control through reinforcement learning to realize adaptive control of the thermal power generating unit.

An unmanned aerial vehicle autonomous electric power facility inspection method based on three-dimensional semantic driving relates to the technical field of unmanned aerial vehicle cruise control, and comprises the following steps: constructing a three-dimensional semantic representation containing key components under a unified world coordinate system, and generating a three-dimensional semantic point cloud with component category labels in real time in combination with airborne visual perception; and the inspection requirements in the operation and maintenance regulation are analyzed into an ordered component-level task sequence, and on the basis, the unmanned aerial vehicle autonomously plans an observation pose and a local flight path according to the three-dimensional semantic distribution of the target component, so that the adaptive approaching and coverage of the key component are realized. According to the invention, operation and maintenance semantics can be precisely followed, fine-grained sensing of key parts is realized, an inspection path is enabled to be close to a concern point, environment adaptability is realized, the inspection efficiency is effectively improved, the cost is reduced, and the problems that current electric power facility unmanned aerial vehicle inspection depends on a preset mode, the operation and maintenance semantics are difficult to meet, and key part sensing and adaptability are lacked are solved. And the inspection tour effect is not good enough.

Provided is a driver assistance system (DAS) including: a storage configured to store driver tendency data including an amount of decrease in acceleration when a vehicle approaches a specific section, in a state in which an adaptive cruise control (ACC) of the vehicle is deactivated; and a controller including at least one processor configured to process the driver tendency data, wherein the controller is configured to, upon the vehicle re-entering the specific section during travel of the vehicle with the ACC, control the vehicle to perform one of acceleration control and deceleration control based on the driver tendency data.

Systems, methods, and apparatus related to sensor data processing for a vehicle to improve operation when sunlight or other bright light enters a sensor of the vehicle. In one approach, adjustable filtering is configured for a sensor of a vehicle. In one example, an optical filter is positioned on the path of light that reaches an image sensor of a camera. For example, the filtering improves ability to stay in adaptive cruise control when driving into direct sunlight at sunset. The optical filters can have controllable properties such as polarization. In one example, a controller of the vehicle is configured to automatically adjust the properties of the optical filter to improve image quality to improve object recognition. In another example, a camera is configured with composite vision that uses sensors in different radiation spectrums (e.g., visible light, and infrared light). The composite vision can provide enhanced vision capability for an autonomous vehicle that is driving in the direction of the sun.

Collective action by multiple vehicles traversing a vehicle transportation network is used to improve operation of vehicles and utilization of the vehicle transportation network. Sensor data for multiple monitored vehicles traveling in a common direction along a road in a vehicle transportation network is received and used as input to a traffic estimation model to determine an estimated congestion for the road in the common direction. A cruise control setting for each of several controlled vehicles, at least some of the controlled vehicles traveling behind the monitored vehicles in the common direction, is determined from the estimated congestion. The cruise control setting is transmitted to the controlled vehicles to modify operation of the controlled vehicles using respective cruise control systems of the controlled vehicles.

The invention relates to a vehicle adaptive cruise control method and device and a controller. The method comprises the steps that under the condition that a vehicle is in a vehicle self-adaptive cruise control mode, real-time sensing data of the vehicle and a planned driving track of the vehicle are acquired; utilizing the real-time sensing data and the planned driving track to obtain predicted energy consumption information of the vehicle for the planned driving track; acquiring endurance influence information of the vehicle according to the predicted energy consumption information; determining a target acceleration of the vehicle based on the endurance influence information of the vehicle and the dynamic driving performance optimization information of the vehicle, and generating a vehicle control instruction based on the target acceleration; the vehicle control instruction is used for indicating the vehicle to perform adaptive cruise control according to the vehicle control instruction. By adopting the method, the self-adaptive cruise control of the vehicle can be carried out in combination with the endurance influence of energy consumption instead of only focusing on safety, comfort and efficiency targets, and the precision of the self-adaptive cruise control of the vehicle can be improved through the mode.

While operating a host vehicle in a lane of a road, a target vehicle operating in the lane in front of the host vehicle is represented with a virtual vehicle. Upon receiving, from an infrastructure element, operation data describing vehicle operation for the road, acceleration of the target vehicle is predicted based on the operation data. An adjustment to a speed for the virtual vehicle is determined based on the acceleration. The virtual vehicle is updated based on the adjustment to the speed. Upon determining that the virtual vehicle is between the target vehicle and the host vehicle, the host vehicle is operated based on the virtual vehicle.

The invention discloses a fixed wing type cross-domain aircraft capable of realizing self-adaptive load replacement, belongs to the technical field of cross-domain aircrafts, and is used for a water-air double-domain operation cross-domain aircraft. Comprising an aircraft body, a main wing, an aileron, a tail assembly, a vertical take-off and landing support, a vertical take-off and landing rotor wing, a fixed wing propeller, an underwater propeller, a load replacement device and a control module. The control module comprises a decision making system, a telemetering communication system, a state sensing system, an underwater water surface load replacement system, a water surface four-rotor vertical take-off and landing control system, an air fixed-wing cruise control system and an underwater vehicle control system. According to the fixed wing type cross-domain aircraft, through collaborative innovation of a multi-mode power system and self-adaptive buoyancy control, the dynamic characteristic adaptation problem in cross-domain navigation is solved, and the fixed wing type cross-domain aircraft has the vertical take-off and landing capacity, the air cruising capacity and the underwater maneuvering capacity.

The invention relates to the technical field of automobiles, and particularly provides a heavy-duty automobile cruise control method, system and device and a storage medium, and the method comprises the steps: obtaining real-time road condition information and vehicle operation data through the fusion of a vehicle-mounted sensor and a driving assistance map; predicting a future vehicle weight, and predicting a future road adhesion coefficient based on the vehicle operation data and the historical road adhesion coefficient data; constructing a state variable based on the real-time road condition information, the vehicle operation data and the road adhesion coefficient, and defining a control variable; establishing a cost function including a safety item, a fuel saving item and a stability item, and setting constraint conditions of a vehicle state variable and a control variable; based on a dynamic programming algorithm, solving a minimum value of a cost function under the condition of satisfying constraint conditions, and obtaining an optimal control variable sequence; and according to the optimal control variable sequence, the gear, the driving torque and the braking torque of the vehicle are adjusted. Through multi-source information fusion and layered dynamic planning, the cruise control performance of the heavy-duty car is remarkably improved.

The present application relates to a braking method for an adaptive cruise control system (ACC), the method comprising: receiving an engine drag torque limit value of the vehicle; performing a correction of the engine drag torque limit value according to the vehicle's longitudinal speed and the actual torque value of the vehicle's engine; and determining, according to the corrected engine drag torque limit value, whether braking is performed via the vehicle stability control system (ESP). The present application further relates to a computer program product, a computer-readable storage medium, and a domain controller.

Systems and methods are provided for learning a driving behavior during a cut-in cut-out event or other triggering event to create a profile that adjusts operation of the adaptive cruise control (ACC) component of the vehicle to mimic the preferences of the driver. The profile may be based on data collected during a previous cut-in cut-out event or other triggering event. The data may be transmitted to an adaptive cruise control system that uses the data as input to a machine learning model. Output of the machine learning model may update the profile for the driver that operates the vehicle in ACC during the cut-in cut-out event. When the vehicle is operating in ACC and an event is within a threshold value of the cut-in cut-out event occurs at a later time, the vehicle may apply rules defined in the profile.

The invention relates to the technical field of ecological driving, in particular to a self-adaptive ecological cruise method and device based on dynamic vehicle behavior prediction.The method comprises the steps that on the basis of at least one driving parameter of a surrounding vehicle within a vehicle target range, the transverse motion state of the surrounding vehicle is recognized, predicting a dynamic driving track of the surrounding vehicle in the future target time according to the transverse motion state; in combination with the at least one driving parameter and the dynamic driving track, generating a vehicle distance variation between the surrounding vehicles in the future target time; and generating a self-adaptive ecological cruise strategy of the vehicle at the current moment based on the dynamic driving track, the vehicle distance variation and a preset driving constraint condition. Therefore, the problems that the prediction dimension of the ecological cruise control strategy of the new energy automobile is still limited to the longitudinal motion state change, the decision complexity of the new energy automobile as an intelligent driving main body is ignored, and obvious insufficient environmental adaptation is achieved in a dynamic traffic scene in the related technology are solved.

The invention relates to the technical field of photovoltaic module cleaning, in particular to a photovoltaic cleaning robot control method, system and device and a storage medium. A control signal is obtained in the advancing process; the control signals are used for updating advancing parameters and comprise longitudinal control signals and transverse control signals; when the longitudinal control signal is larger than a preset target longitudinal threshold value, the target control mode is a first control mode, and the target master control signal is filtered out, including: if the longitudinal control signal is smaller than the first longitudinal threshold value and the transverse control signal is larger than or equal to a first transverse threshold value, the transverse control signal is used as the target master control signal; if the longitudinal control signal is greater than or equal to the second longitudinal threshold, the transverse control signal is smaller than the second transverse threshold; and if yes, taking the longitudinal control signal as a target main control signal. The invention provides an efficient cooperative mechanism of cruise control and manual intervention, and the cleaning efficiency of the photovoltaic module can be greatly improved.

The invention discloses an adaptive cruise function test method and device, electronic equipment, a medium and a product. The method comprises the following steps: in a pre-constructed test scene, acquiring surrounding environment information of a test vehicle to obtain environment sensing data; constructing a vehicle surrounding environment model according to the environment perception data; according to the vehicle surrounding environment model and a preset adaptive cruise control strategy, adaptive cruise control is carried out; acquiring operation data generated when adaptive cruise control is carried out in the test scene; and analyzing the operation data according to a preset performance index to obtain a test evaluation result for evaluating the performance of the adaptive cruise control system. The method can solve the problem that a traditional adaptive cruise test method is insufficient in test coverage in a complex dynamic scene.

The invention discloses a networked vehicle queue safe cruise method for coping with hybrid network attacks, the vehicle queue comprises a head vehicle and a following vehicle, the following vehicle collects the running state data of the vehicle, obtains the running state data of other vehicles through a communication network, continuously detects the state of the communication network, and sends the detected state to the vehicle queue. Detecting whether a network attack is currently suffered or not and the type of the suffered attack, and calculating the minimum characteristic value of the topological matrix in a normal communication state, a spoofing attack state or a replay attack state according to the identified attack type; and then solving the constructed linear matrix inequality which enables the vehicle closed-loop system to be stable to obtain a feedback gain, and generating a control input signal according to the feedback gain obtained by calculation to realize accurate control of the vehicle. The feedback gain is dynamically adjusted according to the real-time state of the vehicle, so that the safety cruise control of the vehicle queue system is more effectively realized.

An automatic cruise control (ACC) system for vehicles and a method for communication therein are provided. The ACC system includes vehicle sensors configured to measure vehicle parameters and generate sensor data; vehicle controllers configured to receive a subset of the sensor data and actuate a vehicle automatic cruise control component; a distributed data services (DDS) bus connected to each of the plurality of vehicle sensors and each vehicle controller; and a publisher / subscriber DDS middleware connected to the DDS bus configured to bi-directionally communicate between each of the plurality of vehicle sensors and each of the plurality of vehicle controllers. The vehicle sensors are configured as a publisher of respective sensor data. The vehicle controllers are configured as a subscriber to a subset of the sensor data and as a publisher of topics generated by the respective vehicle controller. QOS policies govern the behavior of the topics.

The application relates to the technical field of vehicle control, in particular to a self-adaptive cruise control method, device and vehicle. The method comprises the following steps: acquiring state parameters related to a host vehicle and a preceding vehicle; acquiring a current collision time between the host vehicle and the preceding vehicle, and determining a variable adjustment coefficient based on the collision time; adjusting a sliding mode control parameter in a sliding mode control law according to the variable adjustment coefficient, and calculating a desired acceleration according to the state parameters; and setting a torque of an engine of the host vehicle and brake pressure according to the desired acceleration, so as to control the host vehicle to follow the preceding vehicle. Thus, the problem of poor comfort caused by an auxiliary driving control algorithm can be effectively solved.

The invention relates to the technical field of vehicle control, and discloses a self-adaptive cruise control method and system, a vehicle and a storage medium which are applied to a pure electric vehicle, and the method comprises the steps that according to driving state information of a front target vehicle and dynamic parameters of the vehicle, the target deceleration of the vehicle is determined in combination with a safe vehicle following distance model; when it is judged that the pure electric braking condition is not met based on the relation between the target deceleration and the braking force threshold value of the electric braking system and in combination with the real-time battery state of the vehicle, a cooperative braking mode is started; in the cooperative braking mode, the electric braking system is controlled to provide regenerative braking force, and a cooperative braking instruction is sent to the electronic stability control system, so that the electronic stability control system provides mechanical braking force for cooperative braking; the electronic stability control system further adjusts mechanical braking force distribution of all wheels of the vehicle based on the vehicle wheel speed and the vehicle body posture parameters so as to maintain stable running of the vehicle.

A vehicle cruise control method and apparatus related to the technical field of vehicle manufacturing are provided. The method resolves a problem of relatively large energy consumption during vehicle cruise control.

An automated cruise control system is disclosed. Sensors detect driving parameters associated with the ground vehicle as the ground vehicle maneuvers along a segment of the roadway. A ground vehicle control detector detects ground vehicle control inputs associated with an operation of the ground vehicle. The ground vehicle control inputs are generated from a longitudinal operation of the ground vehicle. A energy consumption cruise controller automatically adjusts the operation of the ground vehicle as the ground vehicle maneuvers along the segment of the roadway to maintain the operation of the ground vehicle within an operation threshold based on the detected driving parameters and ground vehicle control inputs. The operation threshold is the operation of the ground vehicle that decreases an amount of overall energy consumed by the ground vehicle and maintains a longitudinal speed of the ground vehicle within a longitudinal speed threshold.

The invention discloses a fuel economy and comfort-oriented heterogeneous vehicle queue cooperative cruise control method, which comprises the following steps of: establishing a three-order discrete time state-space equation of a vehicle, and constructing a model prediction control optimization model of a leading vehicle in a heterogeneous vehicle queue based on the three-order discrete time state-space equation of the vehicle; solving the model prediction control optimization model to obtain the optimal control input of the leader vehicle; constructing a distributed linear feedback control protocol and solving through a discrete system frequency domain analysis method to obtain a control gain for ensuring the internal stability and string stability of a vehicle queue; and obtaining control input of the following vehicle according to the control gain, and realizing heterogeneous vehicle queue cooperative cruise control based on the control input of the following vehicle and the optimal control input of the leader vehicle. By optimizing the control strategy, the fuel economy and riding comfort of the heterogeneous vehicle queue are remarkably improved, and meanwhile the stability and safety of the vehicle queue are guaranteed.

The invention provides a vehicle longitudinal control method and device, a vehicle controller and a vehicle, and relates to the technical field of vehicle auxiliary driving. The method comprises the following steps: acquiring a speed change demand of a vehicle and vehicle running state information, wherein the vehicle running state information at least comprises speed information; if the speed change demand of the vehicle is the acceleration demand, calculating a target feed-forward torque according to the vehicle running state information; determining a cruise control mode according to whether other moving objects exist in a preset range of the driving direction of the vehicle; calculating a closed-loop feedback torque corresponding to the cruise control mode according to the speed information; calculating a target control torque according to the target feedforward torque and the closed-loop feedback torque; and longitudinally controlling the vehicle according to the target control torque. Accurate control over the vehicle can be achieved under different working conditions, and stable and steady operation of the vehicle is ensured.

The invention discloses a vehicle cruise control method, device and equipment and a storage medium, and the method comprises the steps: obtaining the driving information of a target vehicle in a vehicle lane and an adjacent lane, and the driving information comprises the steering lamp state, the driving track, the position, the speed and the acceleration of the target vehicle; judging whether the target vehicle has a lane changing intention or not based on the driving information; and if the lane changing intention exists, the current cruising speed of the vehicle is controlled to approach the speed of the target vehicle in advance. According to the method, the lane changing intention of the target vehicle can be recognized in advance in the high-speed lane changing scene, so that the vehicle can start gentle deceleration control earlier, deceleration fluctuation and braking abrupt feeling are remarkably reduced, and the control comfort, smoothness and driving safety of the self-adaptive cruise system under the high-speed working condition are effectively improved.

The application provides an automobile adaptive cruise system, a control method, a control device, a medium and a vehicle, and the automobile adaptive cruise system comprises a road surface preview system, a road surface parameter updating system, a defensive adaptive cruise controller, a driving actuator, a braking actuator and a sensor group, wherein the sensor group comprises a wheel speed sensor and a combined inertial navigation system, the wheel speed sensor acquires wheel speed, and the combined inertial navigation system acquires the longitudinal speed and acceleration of the vehicle. Since the proposed defensive adaptive cruise control strategy can consider the adverse road surface conditions in advance, no obvious speed or torque step change will be generated when driving in the transition area of the road surface with different adhesion conditions, and the control is relatively smooth.