CN106560367B - Adaptive cruise control device, method and system - Google Patents

Abstract

Adaptive cruise control device, method and system, the method on monitoring adjacent lane when needing to be cut the signal of vehicle sending incision current lane, second acceleration of this vehicle is calculated according to the motion information of the vehicle to be cut, according to the update acceleration of this vehicle of the current acceleration of this vehicle and second acceleration calculation, the speed of this vehicle is adjusted according to the update acceleration of this vehicle.Above scheme gradually adjusts the speed of this vehicle during vehicle to be cut cuts current lane, avoids this vehicle speed suddenly change, the sense of discomfort of traffic accident and driver caused by reducing because of speed suddenly change.

Description

Vehicle adaptive cruise controller, method and system

technical field

The invention relates to the technical field of vehicle safety, in particular to a vehicle adaptive cruise controller, method and system.

Background technique

Adaptive cruise control (Adaptive Cruise Control, ACC) is a car function that allows the vehicle cruise control system to adapt to traffic conditions by adjusting the speed. It is mainly used to improve driving safety. The control technology of adaptive cruise control system is getting more and more attention.

In the prior art, the adaptive cruise control system mainly detects whether there is a vehicle on the road ahead of the vehicle, and actively decelerates to control the reasonable distance between the vehicle and the vehicle in front when there is a vehicle ahead. Drive at the speed set by the driver. However, the existing adaptive cruise control system has certain limitations when other vehicles cut into the road ahead of the vehicle. Interference thus easily causes traffic accidents, and secondly, the sudden deceleration of the vehicle makes the driver feel uncomfortable.

Contents of the invention

The technical problem solved by the embodiments of the present invention is how to avoid the sudden deceleration caused when a vehicle cuts in front of the own vehicle lane.

In order to solve the above problems, an embodiment of the present invention provides a vehicle adaptive cruise control method, the method comprising:

When it is detected that the vehicle to be cut into the adjacent lane sends a signal to cut into the current lane, the second acceleration of the vehicle is calculated according to the motion information of the vehicle to be cut into;

calculating an updated acceleration of the vehicle according to the current acceleration of the vehicle and the second acceleration;

Adjust the vehicle speed of the vehicle according to the updated acceleration of the vehicle;

Wherein, the motion information of the vehicle to be cut in includes the speed of the vehicle to be cut in, and the distance between the vehicle to be cut in and the own vehicle.

Optionally, the monitoring that the vehicle to be cut into the adjacent lane sends a signal to cut into the current lane includes: among the vehicles that are in the adjacent lane or have left the adjacent lane and have not completely entered the current lane, the vehicle is the closest to the own vehicle and is close to the current lane. The vehicle whose turn signal is turned on and flashes more than or equal to n times is judged as the vehicle to be cut in; wherein, n is a natural number greater than or equal to 3.

Optionally, the adaptive cruise control method further includes: detecting the lane line of the current lane, and judging that the vehicle is in an adjacent lane or the current lane according to the positional relationship between the lane line and the vehicle.

Optionally, the calculating the second acceleration of the vehicle according to the motion information of the vehicle to be cut in includes:

Use the formula a _f2 =K×V _c ×[(V _p -V _c )–λ _f (R _s -R _d )] to calculate the second acceleration of the vehicle; where: a _f2 is the second acceleration of the vehicle Acceleration, K is the known acceleration gain coefficient obtained by looking up the table according to the vehicle speed of the vehicle; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11; V _p2 is the vehicle to be cut in Vehicle speed; V _C is the vehicle speed of the vehicle; R _s2 is the distance between the vehicle to be cut in and the vehicle; R _d is the expected vehicle distance.

Optionally, the calculating the updated acceleration of the vehicle according to the current acceleration and the second acceleration includes:

Use the formula a=w1×af1+w2×af2 to calculate the update acceleration; wherein, a is the update acceleration, w1 and w2 are weight coefficients, and w1+w2=1; af1 is the current acceleration of the vehicle, and af2 is The second acceleration of the vehicle.

Optionally, if the vehicle is in the following mode, the current acceleration of the vehicle is calculated according to the motion information of the vehicle in front of the vehicle in the current lane, including:

Use the formula a _f1 =K×V _c ×[(V _p1 -V _c )–λ _f (R _s1 -R _d )] to calculate the current acceleration of the vehicle in the following mode; where: a _f1 is the vehicle The current acceleration of the car, K is the known acceleration gain coefficient obtained by looking up the table according to the speed of the car; λ _f is the weight ratio of the known distance error to speed error, and the typical value is 11; V _p1 is the The speed of the vehicle in front of the vehicle; V _C is the speed of the vehicle; R _s1 is the distance between the vehicle in front and the vehicle; R _d is the expected distance between vehicles.

Optionally, if the vehicle is in cruise mode, the current acceleration of the vehicle is obtained by looking up a table according to the difference between the vehicle speed set by the user and the current vehicle speed.

An embodiment of the present invention also provides a vehicle adaptive cruise control system, the system includes: a monitor, an adaptive cruise controller and a drive controller; the adaptive cruise controller is coupled to the monitor and the drive controller;

The monitor is adapted to monitor the signal of the vehicle to be cut into the current lane sent by the vehicle to be cut into in the adjacent lane, and obtain the movement information and cruise mode of the vehicle to be cut into;

The adaptive cruise controller is adapted to calculate the second acceleration of the vehicle according to the motion information of the vehicle to be cut in, and calculate the updated acceleration of the vehicle according to the current acceleration of the vehicle and the second acceleration;

The drive controller is adapted to adjust the vehicle speed of the vehicle according to the updated acceleration of the vehicle;

Wherein, the motion information of the vehicle to be cut in includes the speed of the vehicle to be cut in, and the distance between the vehicle to be cut in and the own vehicle.

Optionally, the monitor includes a camera and a signal processor; the signal processor is adapted to, according to the signal collected by the camera, separate the vehicles that are in the adjacent lane or leave the adjacent lane and have not completely entered the current lane. The vehicle that is closest to the vehicle and whose turn signal is turned on and flashes more than or equal to n times on the side of the vehicle is judged as the cut-in vehicle, and is suitable for obtaining the motion information of the vehicle to be cut into;

Wherein, n is a natural number greater than or equal to 3; the motion information of the vehicle to be cut in includes the speed of the vehicle to be cut in, and the distance between the vehicle to be cut in and the vehicle.

Optionally, the signal processor is further adapted to determine the lane line of the current lane according to the signal collected by the camera, and judge that the vehicle is in an adjacent lane or the current lane according to the positional relationship between the lane line and the vehicle.

The embodiment of the present invention also provides a vehicle adaptive cruise controller, which includes: a current acceleration acquisition unit, a second acceleration acquisition unit, and an updated acceleration calculation unit;

The current acceleration acquisition unit is adapted to acquire the current acceleration of the vehicle;

The second acceleration acquisition unit is adapted to calculate the second acceleration of the vehicle according to the motion information of the vehicle to be cut in;

The updated acceleration calculation unit is adapted to calculate the updated acceleration of the own vehicle according to the current acceleration of the own vehicle and the second acceleration.

Optionally, when the second acceleration acquisition unit calculates the second acceleration of the own vehicle according to the motion information of the vehicle to be cut in, it is adapted to use the formula a _f2 =K×V _c ×[(V _p2 -V _c ) -λ _f (R _s2 -R _d )] to calculate the second acceleration of the vehicle;

Wherein: a _f2 is the second acceleration of this car, and K is the known acceleration gain coefficient obtained by looking up the table according to the speed of this car; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11 ; V _p2 is the speed of the vehicle to be cut in; V _C is the speed of the vehicle; R _s2 is the distance between the vehicle to be cut in and the vehicle; R _d is the expected distance between vehicles.

Optionally, the update acceleration calculation unit is adapted to use the formula a=w ₁ ×a _f1 +w ₂ ×a _f2 to calculate the update acceleration; where a is the update acceleration, w ₁ and w ₂ are weight coefficients , and w ₁ +w ₂ =1; a _f1 is the current acceleration of the vehicle, and a _f2 is the second acceleration of the vehicle.

Optionally, the current acceleration acquisition unit is adapted to use the formula a _f1 =K×V _c ×[(V _p1 -V _c )–λ _f (R _s1 -R _d )] to calculate when the vehicle is in the following mode the current acceleration of the vehicle in the following mode;

Wherein: a _f1 is the current acceleration of this car, and K is the known acceleration gain coefficient obtained by looking up the table according to the speed of this car; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11; V _p1 is the speed of the vehicle in front of the vehicle on the current lane; V _C is the speed of the vehicle; R _s1 is the distance between the vehicle in front and the vehicle; R _d is the expected distance between vehicles.

Optionally, the current acceleration obtaining unit is adapted to obtain the current acceleration by looking up a table according to the difference between the vehicle speed set by the user and the current vehicle speed when the vehicle is in the cruising mode.

Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

When it is detected that the vehicle to be cut into the adjacent lane sends a signal to cut into the current lane, the second acceleration of the vehicle is calculated according to the motion information of the vehicle to be cut into, and the current acceleration of the vehicle is calculated according to the current acceleration of the vehicle and the second acceleration. The updated acceleration of the vehicle, so as to gradually adjust the speed of the vehicle when the vehicle to be cut into the current lane, avoid sudden changes in the speed of the vehicle, reduce traffic accidents caused by sudden changes in vehicle speed, and driver discomfort.

Description of drawings

FIG. 1 is a scene diagram of a vehicle to be cut into the vehicle lane in an embodiment of the present invention;

Fig. 2 is a flow chart of a vehicle adaptive cruise control method in an embodiment of the present invention;

Fig. 3 is a kind of two weight coefficients used for calculating the update acceleration in an embodiment of the present invention, from the beginning of the cut-in to the end of the vehicle to be cut in over time;

4 is a schematic structural diagram of a vehicle adaptive cruise control system in an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a vehicle adaptive cruise controller in an embodiment of the present invention.

Detailed ways

As mentioned above, when other vehicles cut into the front of the vehicle in the current lane of the vehicle, the existing adaptive cruise control system has certain limitations, which is mainly manifested in: the vehicle suddenly decelerates during the crossing process , causing interference to the surrounding normal driving vehicles and thus easily causing traffic accidents, and secondly, the sudden deceleration of the vehicle makes the driver feel uncomfortable.

In view of the above problems, an embodiment of the present invention provides a vehicle adaptive cruise control method. The method detects that the vehicle to be cut into the adjacent lane sends a signal to cut into the current lane, and according to the motion information of the vehicle to be cut into Calculate the second acceleration of the vehicle, and calculate the updated acceleration of the vehicle according to the current acceleration of the vehicle and the second acceleration, so as to gradually adjust the speed of the vehicle when the vehicle to be cut into the current lane is cut, and avoid sudden changes in the speed of the vehicle , Reduce traffic accidents caused by sudden changes in vehicle speed and the discomfort felt by the driver.

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Fig. 1 is a scene diagram of a vehicle to be cut into the lane of the own vehicle in an embodiment of the present invention. Fig. 1 shows two scenarios where a vehicle cuts into the lane of the own vehicle in front of the own vehicle.

The first scenario is that the vehicle is in cruising mode, see Figure a) in Fig. 1, and the cruising mode refers to a scene where there is no vehicle within the safe distance in front of the vehicle 1 on the lane 10 where the vehicle 1 is located. In the cruising mode shown in Figure a) in Figure 1, there is a vehicle 3 in the adjacent right lane 12 of the vehicle 1 lane that is ready to cut into the front of the vehicle 1 lane 10 relative to the vehicle 1.

The second scenario is that the vehicle is in the following mode, see Figure b) in Figure 1, the following mode refers to the scene where there is a vehicle within the safe distance in front of the vehicle 1 on the lane 10 of the vehicle 1. In the following mode as shown in Figure b) in Figure 1, there is a vehicle 3 in the right lane 12 adjacent to the vehicle 1 lane 10, which is ready to cut into the front of the vehicle 1 in the vehicle 1 lane, and the vehicle 1 is on the lane 10 There is a vehicle 4 within the safe distance ahead of the vehicle 1 .

In specific implementation, whether there is a vehicle to be cut in can be monitored by the monitoring device 2, the monitoring device 2 can be installed on the roof of the vehicle body, and the detection range of the monitoring device 2 can cover the vehicle and the vehicle directly in front of the vehicle 1. Vehicles to the left and right of ego vehicle 1.

In a specific implementation, the monitoring device 2 may monitor the turn signals of vehicles on adjacent lanes as a signal indication to determine whether there is a vehicle to cut into. Specifically, among the vehicles on the adjacent lanes 11, 12 or leaving the adjacent lanes 11, 12 but not fully entering the current lane 10, the turn lights 5 on the side of the vehicle 1 closest to the current vehicle can be turned on and flashed n times. The vehicle is judged as the vehicle to be cut in; wherein, n is a natural number greater than or equal to 3. In Fig. 1, if n is taken as 3, the vehicle 3 is on the adjacent lane 11, and is closest to the vehicle 1, if the turning signal 5 on the side of the vehicle 3 near the vehicle 1 flashes more than or equal to 3 times, then the vehicle 3 is Waiting to cut into the vehicle.

It should be pointed out that the specific value of n can be set according to needs, and the selection of the value of n should make it possible to determine that the vehicle is a vehicle to be cut in and conform to the actual situation as much as possible.

In a specific implementation, the monitoring information of the monitoring device 2 may include lane lines within the monitoring range and movement information of the monitored vehicle. According to the positional relationship between the lane line and the adjacent vehicle, it is judged that the adjacent vehicle is in the adjacent lane or the current lane, and on this basis, the judgment of the vehicle to be cut in can be made. The movement information of the monitored vehicle may include the movement speed of the monitored vehicle and the distance between the monitored vehicle and the vehicle 1 , and the movement information may be used as a reference factor for adjusting the vehicle speed.

In the cruise mode in the prior art, when the vehicle 1 is driving at the set speed in the current lane or accelerating to the set speed, when a vehicle 3 is about to cut into the front of the vehicle 1 in the lane where the vehicle 1 is located, the existing adaptive cruise The control system does not start to adjust the speed, and still drives at the original speed or is still accelerating. Only when the vehicle 3 that is about to cut in is in front of the vehicle 1, the existing adaptive cruise control system starts to use the vehicle 3 as the follow-up target Adjust the speed.

In the following mode in the prior art, the vehicle 1 takes the vehicle 4 in front of the current lane as the following target, and the adaptive cruise control system of the vehicle 1 is adjusting the speed according to the speed of the vehicle 4 and the distance from the vehicle 1 , when a vehicle 3 is about to cut into the front of the vehicle 1 in the lane where the own vehicle 1 is located, the existing adaptive cruise control system does not start to adjust the speed, only when the vehicle 3 that is about to cut into the front of the own vehicle 1, the existing adaptive cruise control system Adapt to the cruise control system before starting to change the following target to vehicle 3, and then adjust the vehicle speed.

In the embodiment of the present invention, regardless of whether the vehicle 1 is in the cruise mode or the following mode, it can be judged whether the vehicle 3 is a vehicle to be cut in by using the turn signal 5 of the vehicle 3 closest to the vehicle 1 in the adjacent lane as the signal basis. 3 is that when the vehicle is to be cut into, the vehicle 1 can start to adjust the speed of the vehicle. Compared with the prior art, the embodiment of the present invention starts to adjust the speed of the vehicle when it is judged that the vehicle to be cut in is ready to cut into the front of the current lane. deceleration situation.

It should be pointed out that the present invention may use other signals as the indication signal for judging that the vehicle in the adjacent lane is to cut into, and is not limited to using the number of blinks of the turn signal as the judging basis.

The process of adjusting the vehicle speed of the vehicle will be described in detail below through the specific steps of the vehicle adaptive cruise control method.

Fig. 2 is a flowchart of a vehicle adaptive cruise control method in an embodiment of the present invention. The specific steps in the process are described below.

S201: Calculate the second acceleration of the vehicle according to the motion information of the vehicle to be cut into when it is detected that the vehicle to be cut into in the adjacent lane sends a signal to cut into the current lane.

In a specific implementation, the motion information of the vehicle to be cut in may include the speed of the vehicle to be cut in, and the distance between the vehicle to be cut in and the own vehicle.

In a specific implementation, the lane line of the current lane can be detected, and according to the positional relationship between the lane line and the vehicle, it can be judged that the vehicle is in the adjacent lane or the current lane.

In a specific implementation, it may be determined whether there is a vehicle to be cut in on the adjacent lane by monitoring and receiving a signal to cut into the current lane from a vehicle to be cut into in the adjacent lane.

In a specific implementation, the turn signal of the vehicle may be used as a signal for the vehicle to cut into the current lane. Specifically, among the vehicles that are in the adjacent lane or have left the adjacent lane and have not completely entered the current lane, the vehicle that is closest to the vehicle, and the turn signal on the side of the vehicle is turned on and the number of flashes is equal to n times is judged as the vehicle to be cut in. Vehicle; wherein, n is a natural number greater than or equal to 3.

It should be pointed out that the specific value of n can be set according to needs, and the value of n should be selected to ensure that the vehicle is actually determined to be a vehicle to cut into the current lane effectively.

In a specific implementation, the second acceleration refers to the current acceleration of the vehicle to be cut into. Specifically, when calculating the second acceleration of the vehicle according to the motion information of the vehicle to be cut in, the formula a _f2 =K×V _c ×[(V _p2 -V _c )–λ _f (R _s2 -R _d ) can be used ] to calculate the second acceleration of the vehicle;

Wherein: a _f2 is the second acceleration of this car, and K is the known acceleration gain coefficient obtained by looking up the table according to the speed of this car; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11 ; V _p2 is the speed of the vehicle to be cut in; V _C is the speed of the vehicle; R _s2 is the distance between the vehicle to be cut in and the vehicle; R _d is the expected distance between vehicles.

The table used to obtain the acceleration gain coefficient K by looking up the table above can be understood by those skilled in the art. The vehicle speed V _p2 of the vehicle to be cut in and the distance R _s2 between the vehicle in front of the vehicle and the vehicle in the current lane are determined by the monitoring equipment To obtain, the vehicle speed V _C of the vehicle can be obtained through the vehicle speed sensor of the vehicle, and the expected vehicle distance R _d can be set by the user.

S202: Calculate the updated acceleration of the vehicle according to the current acceleration of the vehicle and the second acceleration.

In a specific implementation, the methods for obtaining the current acceleration of the host vehicle are different in the following mode and in the cruising mode.

When the vehicle is in the following mode, that is, in the scene where there is a vehicle within the safe distance in front of the vehicle 1 in the lane of the vehicle, the current acceleration of the vehicle can be calculated according to the motion information of the vehicle in front of the vehicle in the current lane. The movement information of the vehicle includes the driving speed of the vehicle in front and the distance between the vehicle in front and the own vehicle. Specifically, the current acceleration of the vehicle in the following mode can be calculated using the formula a _f1 =K×V _c ×[(V _p1 -V _c )–λ _f (R _s1 -R _d )]; where: af ₁ is the current acceleration of the vehicle, K is the known acceleration gain coefficient obtained by looking up the table according to the vehicle speed of the vehicle; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11; V _p1 is the speed of the vehicle in front of the vehicle on the current lane; V _C1 is the speed of the vehicle; R _s1 is the distance between the vehicle in front of the vehicle and the vehicle on the current lane; R _d is the expected distance between vehicles.

The table used to obtain the acceleration gain coefficient K by looking up the table above can be understood by those skilled in the art. The vehicle speed V _p1 of the vehicle to be cut in and the distance R _s1 between the vehicle in front of the vehicle and the vehicle in the current lane are determined by the monitoring equipment To obtain, the vehicle speed V _C of the vehicle can be obtained through the vehicle speed sensor of the vehicle, and the expected vehicle distance R _d can be set by the user.

When the vehicle is in cruise mode, that is, in the scene where there is no vehicle within the safe distance in front of vehicle 1 on the vehicle 1 lane, the current acceleration of the vehicle is determined by checking the difference between the vehicle speed set by the user and the current vehicle speed. Acquired from a table, that is, to find the corresponding acceleration value through the difference value lookup table, and the lookup table can be understood by those skilled in the art.

In a specific implementation, the updated acceleration of the own vehicle is calculated according to the current acceleration of the own vehicle and the second acceleration, and the updated acceleration is the calculation basis for the own vehicle to adjust the speed of the own vehicle in the scene where the vehicle to be cut in cuts into the current lane.

Specifically, the update acceleration can be calculated using the formula a=w ₁ ×a _f1 +w ₂ ×a _f2 ; where a is the update acceleration, w ₁ and w ₂ are weight coefficients, and w ₁ +w ₂ = 1; a _f1 is the current acceleration of the host vehicle, and a _f2 is the second acceleration of the host vehicle.

In the above formula, w ₁ is the weight coefficient of the current acceleration of the host vehicle, w ₂ is the weight coefficient of the second acceleration of the host vehicle, and w ₁ +w ₂ =1, the magnitudes of w ₁ and w ₂ vary As shown in Figure 3.

FIG. 3 shows the change with time of the two weight coefficients for calculating and updating the acceleration of the own vehicle from the cut-in. As shown in FIG. 3 , w ₁ +w ₂ =1. Explanation in conjunction with Fig. 1: when the time is 0, it is determined that the vehicle 3 to be cut in has not started to cut in, w ₂ = 0, w ₁ = 1, and the updated acceleration a of the own vehicle 1 depends on the current acceleration of the own vehicle 1; when the time is t In order to determine that the vehicle 3 to be cut in has completed the cut-in, w ₂ =0, w ₁ =1, and the vehicle 3 to be cut in has completed the cut-in process, the updated acceleration a of this,1 depends on the acceleration of the vehicle 3 to be cut in after cutting into the current lane, that is, the first The value of the second acceleration, at this time, the follow-up target of the own vehicle 1 becomes the vehicle 3 to be cut in which has been cut in; when the time is between 0 and t, the vehicle 3 to be cut in is in the process of cutting into the current lane 10, during this process , w ₁ is gradually decreasing, w ₂ is gradually increasing, and w ₁ +w ₂ =1 is satisfied.

In specific implementation, the time t is the time course for the vehicle 3 to cut into the current lane 10, and it is also the process for the vehicle 1 to gradually adjust the speed of the vehicle by using the technical solution. It should be pointed out that the specific value of the time t can be set according to the needs. If the value of t is set too small, the cut-in process of the set vehicle to be cut in will be too short, and the transitional effect of the vehicle speed adjustment will not be achieved. If the value of t is too large, the set cut-in process of the vehicle to be cut in will be too long, and the response time of the own vehicle will be too long, so that it will not be able to effectively adjust the speed of the vehicle.

Specifically, the current speed of the vehicle and the characteristics of the vehicle itself, including its own weight and braking performance, will affect the selection of t. According to the size of the vehicle speed, t is dynamically selected. When the vehicle speed is high, the value of t is appropriately relaxed to ensure the comfort of the vehicle , otherwise t can be set to be small, and the typical value of t can be selected in the range of 5s to 10s.

S203: Adjust the vehicle speed of the vehicle according to the updated acceleration of the vehicle.

In a specific implementation, the updated acceleration a of the own vehicle has been obtained according to step S102, and the vehicle speed of the own vehicle can be adjusted according to the updated acceleration a of the own vehicle.

Specifically, when the vehicle is driven by an internal combustion engine, the speed of the vehicle can be adjusted through the engine and brakes according to the updated acceleration a; when the vehicle is an electric vehicle, it can be driven by a motor according to the updated acceleration a The controller is used to adjust the speed of the vehicle.

It should be pointed out that, after the process from step S201 to step S203 is determined, the vehicle to be cut in is cyclically executed during the whole process of the vehicle to be cut into the current lane, that is, the vehicle will continuously calculate the current lane. The acceleration a _f1 , the second acceleration a _f2 and the updated acceleration a continuously and dynamically adjust the speed of the vehicle. In the embodiment of the present invention, the setting of the entire process of the vehicle to be cut into the current lane depends on the selection of the value of t.

In the embodiment of the present invention, it is determined whether the vehicle to be cut in starts to cut into the current lane through the cut-in signal sent by the vehicle to be cut in. At the same time, the vehicle starts to obtain the second acceleration and the current acceleration. According to the second acceleration Calculate the updated acceleration of the vehicle with the current acceleration, and adjust the vehicle speed of the vehicle accordingly. The above-mentioned vehicle predicts the cut-in of the vehicle to be cut in and gradually adjusts the speed of the cut-in process. Compared with the prior art, The sudden deceleration of the vehicle is avoided, and the potential safety hazard and the discomfort of the driver are reduced.

Fig. 3 is a time-dependent change of two weight coefficients used for calculating the updated acceleration from the start of the cut-in to the end of the cut-in vehicle in an embodiment of the present invention.

As shown in FIG. 3 , w ₁ +w ₂ =1. Explanation in conjunction with Fig. 1: when the time is 0, it is determined that the vehicle 3 to be cut in has not started to cut in, w ₂ = 0, w ₁ = 1, and the updated acceleration a of the own vehicle 1 depends on the current acceleration of the own vehicle 1; when the time is t In order to determine that the vehicle 3 to be cut in has completed the cut-in, w ₂ =0, w ₁ =1, the vehicle 3 to be cut in has completed the cut-in process, the updated acceleration a of the own vehicle 1 depends on the acceleration of the vehicle 3 to be cut in after cutting into the current lane, that is, the first The value of the second acceleration, at this time, the follow-up target of the own vehicle 1 becomes the vehicle 3 to be cut in which has been cut in; when the time is between 0 and t, the vehicle 3 to be cut in is in the process of cutting into the current lane 10, during this process , w ₁ is gradually decreasing, w ₂ is gradually increasing, and w ₁ +w ₂ =1 is satisfied.

In the specific implementation, the change of w can be set by setting the value of t. If the value of t is set too small, the cut-in process of the set vehicle to be cut in will be too short, and the transitional effect of adjusting the speed of the vehicle will not be achieved. If the value of t is too large, the set cut-in process of the vehicle to be cut in will be too long, and the response time of the own vehicle will be too long, so that it will not be able to effectively adjust the speed of the vehicle.

Specifically, the current speed of the vehicle and the characteristics of the vehicle itself, including its own weight and braking performance, will affect the selection of t, and t is dynamically selected according to the speed of the vehicle. When the speed is high, the value of t is appropriately relaxed to ensure the comfort of the vehicle. On the contrary, t can be set to be small, and the typical value of t can be selected in the range of 5s to 10s.

Fig. 4 is a schematic structural diagram of a vehicle adaptive cruise control system in an embodiment of the present invention. As shown in FIG. 4 , the vehicle adaptive cruise control system 40 may include: a monitor 401 , an adaptive cruise controller 402 and a drive controller 403 .

The monitor 401 is adapted to monitor the signal of the vehicle to be cut into the current lane sent by the vehicle to be cut into in the adjacent lane, and obtain the motion information of the vehicle to be cut into;

The adaptive cruise controller 402 is adapted to calculate the second acceleration of the vehicle according to the motion information of the vehicle to be cut in, and calculate the updated acceleration of the vehicle according to the current acceleration of the vehicle and the second acceleration;

The drive controller 403 is adapted to adjust the vehicle speed of the vehicle according to the updated acceleration of the vehicle;

Wherein, the motion information of the vehicle to be cut in includes the speed of the vehicle to be cut in, and the distance between the vehicle to be cut in and the own vehicle.

In a specific implementation, the monitor may include a camera 4011 and a signal processor 4012; the signal processor 4012 is adapted to, according to the signal collected by the camera 4011, be in an adjacent lane or leave an adjacent lane without fully entering Among the vehicles in the current lane, the vehicle that is the closest to the vehicle and the turn signal on the side of the vehicle is turned on and flashes more than or equal to n times is judged as the cut-in vehicle, which is suitable for obtaining the motion information of the vehicle to be cut in; where n is greater than or equal to A natural number equal to 3.

The signal processor 4012 is further adapted to determine the lane line of the current lane according to the signal collected by the camera 4011, and judge that the vehicle is in the adjacent lane or the current lane according to the positional relationship between the lane line and the vehicle.

By setting the monitor to determine whether the vehicle to be cut into the current lane is judged according to the cut-in signal sent by the vehicle to be cut into, when it is determined that the vehicle to be cut into is started to cut into the current lane, the adaptive cruise controller acquires the second Acceleration and the current acceleration, calculate the updated acceleration of the vehicle according to the second acceleration and the current acceleration, and adjust the vehicle speed of the vehicle accordingly, the above-mentioned vehicle performs the pre-judgment and Compared with the prior art, the gradual adjustment of the vehicle speed in the cut-in process avoids the sudden deceleration of the vehicle, reduces potential safety hazards and discomfort of the driver.

Fig. 5 is a schematic structural diagram of a vehicle adaptive cruise controller in an embodiment of the present invention. As shown in Figure 5, the vehicle adaptive cruise controller 50 may include: a current acceleration acquisition unit 501, a second acceleration acquisition unit 502 and an update acceleration calculation unit 503;

The current acceleration acquisition unit 501 is adapted to acquire the current acceleration of the vehicle;

The second acceleration acquisition unit 502 is adapted to calculate the second acceleration of the vehicle according to the motion information of the vehicle to be cut into;

The updated acceleration calculation unit 503 is adapted to calculate the updated acceleration of the own vehicle according to the current acceleration of the own vehicle and the second acceleration.

In a specific implementation, if the vehicle is in the following mode, the current acceleration acquisition unit 501 is adapted to use the formula a _f1 =K×V _c ×[(V _p1 -V _c )–λ _f (R _s1 -R _d )] calculating the current acceleration of the vehicle in the following mode;

Among them: a _f1 is the current acceleration of the car, K is the known acceleration gain coefficient obtained by looking up the table according to the speed of the car; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11; V _p1 is the speed of the vehicle in front of the vehicle on the current lane; V _C is the speed of the vehicle; R _s1 is the distance between the vehicle in front and the vehicle; R _d is the expected distance between vehicles.

If the vehicle is in cruise mode, the current acceleration acquisition unit 501 is adapted to acquire the current acceleration by looking up a table according to the difference between the vehicle speed set by the user and the current vehicle speed.

In a specific implementation, when the second acceleration acquisition unit 502 calculates the second acceleration of the own vehicle according to the motion information of the vehicle to be cut in, it is suitable to use the formula a _f2 =K×V _c ×[(V _p2 -V _c )–λ _f (R _s2 –R _d )] calculate the second acceleration of the vehicle;

Wherein: a _f2 is the second acceleration of this car, and K is the known acceleration gain coefficient obtained by looking up the table according to the speed of this car; λ _f is the weight ratio of the known distance error and speed error, and the typical value is 11 ; V _p2 is the speed of the vehicle to be cut in; V _C is the speed of the vehicle; R _s2 is the distance between the vehicle to be cut in and the vehicle; R _d is the expected distance between vehicles.

In a specific implementation, when the updated acceleration calculation unit 503 calculates the updated acceleration of the own vehicle according to the current acceleration of the own vehicle and the second acceleration, it is suitable to use the formula a=w ₁ ×a _f1 +w ₂ ×a _f2 calculates the update acceleration; wherein, a is the update acceleration, w ₁ and w ₂ are weight coefficients, and w ₁ +w ₂ =1; a _f1 is the current acceleration of the vehicle, and a _f2 is the first vehicle acceleration Two acceleration.

In the above formula, w ₁ is the weight coefficient of the current acceleration of the host vehicle, w ₂ is the weight coefficient of the second acceleration of the host vehicle, and w ₁ +w ₂ =1, the magnitudes of w ₁ and w ₂ vary As shown in Figure 3. As shown in FIG. 3 , w ₁ +w ₂ =1. Explanation in conjunction with Fig. 1: when the time is 0, it is determined that the vehicle 3 to be cut in has not started to cut in, w ₂ = 0, w ₁ = 1, and the updated acceleration a of the own vehicle 1 depends on the current acceleration of the own vehicle 1; when the time is t In order to determine that the vehicle 3 to be cut in has completed the cut-in, w ₂ =0, w ₁ =1, the vehicle 3 to be cut in has completed the cut-in process, the updated acceleration a of the own vehicle 1 depends on the acceleration of the vehicle 3 to be cut in after cutting into the current lane, that is, the first The value of the second acceleration, at this time, the follow-up target of the own vehicle 1 becomes the vehicle 3 to be cut in which has been cut in; when the time is between 0 and t, the vehicle 3 to be cut in is in the process of cutting into the current lane 10, during this process , w ₁ is gradually decreasing, w ₂ is gradually increasing, and w ₁ +w ₂ =1 is satisfied.

In a specific implementation, the time t is the time course when the vehicle 3 to be cut in cuts into the current lane 10, and it is also the process in which the vehicle 1 adopts the technical solution to gradually adjust the vehicle speed of the vehicle. It should be pointed out that the specific value of the time t can be set according to the needs. If the value of t is set too small, the set cut-in process of the vehicle to be cut in will be too short, and the transition effect of the vehicle speed adjustment will not be achieved. If the value of t is too large, the set cut-in process of the vehicle to be cut in will be too long, and the response time of the own vehicle will be too long, so that it will not be able to effectively adjust the speed of the vehicle.

Specifically, the current speed of the vehicle and the characteristics of the vehicle itself, including its own weight and braking performance, will affect the selection of t. According to the size of the vehicle speed, t is dynamically selected. When the vehicle speed is high, the value of t is appropriately relaxed to ensure the comfort of the vehicle , otherwise t can be set to be small, and the typical value of t can be selected in the range of 5s to 10s.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: ROM , RAM, disk or CD, etc.

Although the present invention is disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention should be based on the scope defined in the claims.

Claims (15)

1. a kind of adaptive cruise control method, which is characterized in that including：

When needing to be cut the signal of vehicle sending incision current lane on monitoring adjacent lane, according to the vehicle to be cut Motion information calculate second acceleration of this vehicle；

According to the update acceleration of this vehicle of the current acceleration of this vehicle and second acceleration calculation, specifically include：Use public affairs Formula a=w₁×a_f1+w₂×a_f2Calculate the update acceleration；Wherein, a is the update acceleration, w₁And w₂For weight coefficient, And w₁+w₂=1；a_f1For the current acceleration of this vehicle, a_f2For second acceleration of this vehicle, and since the incision at any time During variation, w₁It is gradually reduced, w₂It is gradually increased；

The speed of this vehicle is adjusted according to the update acceleration of this vehicle；

Wherein, the motion information of the vehicle to be cut includes the vehicle of car speed to be cut and vehicle to be cut and this vehicle Away from.

2. adaptive cruise control method according to claim 1, which is characterized in that described to monitor adjacent lane On need to be cut vehicle and issue the signal of incision current lane and include：It will be on the adjacent lane or to leave adjacent lane incomplete Into in the vehicle of current lane, from this vehicle, simultaneously flashing times are more than or equal to n times to the side steering indicating light installed unlatching of this vehicle one recently and closely Vehicle is judged as the vehicle to be cut；Wherein, n is the natural number more than or equal to 3.

3. adaptive cruise control method according to claim 2, which is characterized in that further include：Front truck is worked as in detection The lane line in road judges that the vehicle is in adjacent lane or works as front truck according to the positional relationship of the lane line and vehicle Road.

4. adaptive cruise control method according to claim 1, which is characterized in that it is described according to wait cut The motion information of vehicle calculates second acceleration of this vehicle, including：

Use formula a_f2=K × V_c×[(V_p2-V_c)–λ_f(R_s2–R_d)] calculate second acceleration of described vehicle；Wherein:a_f2 For second acceleration of this vehicle, K is the known acceleration gain coefficient for passing through acquisition of tabling look-up according to the speed of this vehicle；λ_fFor The weight ratio of the range error and velocity error known, representative value take 11；V_p2For the speed of the vehicle to be cut；V_CFor this vehicle Speed；R_s2For the spacing of the vehicle to be cut and this vehicle；R_dFor desired spacing.

5. adaptive cruise control method according to claim 1, which is characterized in that described currently to be added according to described The update acceleration of this vehicle of speed and second acceleration calculation, including：

Use formula a=w₁×a_f1+w₂×a_f2Calculate the update acceleration；Wherein, a is the update acceleration, w₁And w₂For Weight coefficient, and w₁+w₂=1；a_f1For the current acceleration of this vehicle, a_f2For second acceleration of this vehicle.

6. adaptive cruise control method according to claim 1, which is characterized in that Ruo Benche is in and follows mould Formula, the current acceleration of described vehicle be calculated according to the motion information of this front side vehicle on current lane, including：

Use formula a_f1=K × V_c×[(V_p1-V_c)–λ_f(R_s1–R_d)] calculate the current of described vehicle under the follow the mode plus Speed；Wherein:a_f1For the current acceleration of this vehicle, K is that the known speed according to this vehicle is increased by the acceleration for acquisition of tabling look-up Beneficial coefficient；λ_fFor the weight ratio of known range error and velocity error, representative value takes 11；V_p1For this front side on current lane The speed of vehicle；V_CFor the speed of this vehicle；R_s1For the front vehicles and this vehicle spacing；R_dFor desired spacing.

7. adaptive cruise control method according to claim 1, which is characterized in that Ruo Benche is in cruise mould Formula, the current acceleration of described vehicle are to pass through acquisition of tabling look-up according to the difference of speed set by user and current vehicle speed.

8. a kind of Vehicle Adaptive Cruising Control Systems, which is characterized in that including：Monitor, adaptive learning algorithms device and drive Movement controller；The adaptive learning algorithms device couples the monitor and the drive control device；

The monitor issues the signal of incision current lane suitable for monitoring vehicle to be cut on adjacent lane, obtain it is described to It cuts shown when motion information, the cruise mode of vehicle；

The adaptive learning algorithms device accelerates suitable for calculating the second of this vehicle according to the motion information of the vehicle to be cut Degree, according to the update acceleration of this vehicle of the current acceleration of this vehicle and second acceleration calculation, specifically used formula a=w₁ ×a_f1+w₂×a_f2Calculate the update acceleration；Wherein, a is the update acceleration, w₁And w₂For weight coefficient, and w₁+ w₂=1；a_f1For the current acceleration of this vehicle, a_f2For second acceleration of this vehicle, and change with time since incision In the process, w₁It is gradually reduced, w₂It is gradually increased；

The drive control device adjusts the speed of this vehicle suitable for the update acceleration according to this vehicle；

Wherein, the motion information of the vehicle to be cut includes the vehicle of car speed to be cut and vehicle to be cut and this vehicle Away from.

9. Vehicle Adaptive Cruising Control Systems according to claim 8, the monitor includes at camera and signal Manage device；The signal processor is suitable for the signal acquired according to the camera, will be on adjacent lane or leave adjacent vehicle Road not completely into the vehicle of current lane recently and nearly this vehicle one is side steering indicating light installed opens and flashing times are greater than etc. from this vehicle It is judged as the incision vehicle, and the motion information suitable for obtaining vehicle to be cut in the vehicle of n times；

Wherein, n is the natural number more than or equal to 3.

10. Vehicle Adaptive Cruising Control Systems according to claim 9, which is characterized in that the signal processor is also Signal suitable for being acquired according to the camera determines the lane line of current lane, is closed according to the position of the lane line and vehicle System, judges that the vehicle is in adjacent lane or current lane.

11. a kind of adaptive cruise control device, which is characterized in that including：Current acceleration acquiring unit, the second acceleration Acquiring unit and update acceleration calculation unit；

The current acceleration acquiring unit, suitable for obtaining the current acceleration of this vehicle；

Second acceleration obtainment unit calculates second acceleration of this vehicle suitable for the motion information according to vehicle to be cut；

The update acceleration calculation unit, suitable for according to the current acceleration of this vehicle and second acceleration calculation this vehicle Acceleration is updated, the speed of this vehicle is adjusted with the update acceleration according to this vehicle；Specifically used formula a=w₁×a_f1+w₂×a_f2 Calculate the update acceleration；Wherein, a is the update acceleration, w₁And w₂For weight coefficient, and w₁+w₂=1；a_f1For this The current acceleration of vehicle, a_f2For second acceleration of this vehicle, and during changing with time since incision, w₁Gradually Reduce, w₂It is gradually increased.

12. adaptive cruise control device according to claim 11, which is characterized in that second acceleration obtains Unit is suitable for using formula a when calculating second acceleration of this vehicle wait cut the motion information of vehicle according to_f2=K × V_c×[(V_p2-V_c)–λ_f(R_s2–R_d)] calculate described vehicle the second acceleration；

Wherein:a_f2For second acceleration of this vehicle, K is the known acceleration gain for passing through acquisition of tabling look-up according to the speed of this vehicle Coefficient；λ_fFor the weight ratio of known range error and velocity error, representative value takes 11；V_p2For the vehicle of the vehicle to be cut Speed；V_CFor the speed of this vehicle；R_s2For the spacing of the vehicle to be cut and this vehicle；R_dFor desired spacing.

13. adaptive cruise control device according to claim 11, which is characterized in that the update acceleration calculation Unit is suitable for using formula a=w₁×a_f1+w₂×a_f2Calculate the update acceleration；Wherein, a is the update acceleration, w₁ And w₂For weight coefficient, and w₁+w₂=1；a_f1For the current acceleration of this vehicle, a_f2For second acceleration of this vehicle.

14. adaptive cruise control device according to claim 11, which is characterized in that the current acceleration obtains Unit is suitable for when this vehicle is in follow the mode, uses formula a_f1=K × V_c×[(V_p1-V_c)–λ_f(R_s1–R_d)] calculate it is described with With the current acceleration of described vehicle under mode；

Wherein:a_f1For the current acceleration of this vehicle, K is the known acceleration gain for passing through acquisition of tabling look-up according to the speed of this vehicle Coefficient；λ_fFor the weight ratio of known range error and velocity error, representative value takes 11；V_p1For this front side vehicle on current lane Speed；V_CFor the speed of this vehicle；R_s1For the front vehicles and this vehicle spacing；R_dFor desired spacing.

15. adaptive cruise control device according to claim 11, which is characterized in that the current acceleration obtains Unit is suitable for when this vehicle is in cruise mode, passes through acquisition of tabling look-up according to the difference of speed set by user and current vehicle speed The current acceleration.