The invention discloses a safe, comfortable and efficient ACC vehicle following speed planning method in intelligent driving. The acceleration of a vehicle is very large during acceleration vehicle following, and quick tracking of a front vehicle is achieved; then, the vehicle enters a deceleration stage, the vehicle is gradually decelerated at a small deceleration and a small vehicle speed, the requirement for the vehicle following speed is met while a vehicle following distance is slowly met, and then the vehicle enters a constant-speed stage; fuzzy control is carried out in the constant-speed stage, and when a collision distance between the vehicle and the front vehicle is within a small interval, braking and oil feeding are not carried out; when the collision distance is large, fine adjustment is properly carried out, and at the moment, passengers in the vehicle do not feel obvious accelerator or brake actions; when the front vehicle is suddenly braked, the vehicle can follow the brake in time to effectively avoid the collision with the front vehicle and ensure the safety of passengers and the vehicle; and when the front vehicle is suddenly accelerated or suddenly decelerated at different speeds, the vehicle can also make corresponding responses, and convergence in distance and speed is achieved quickly.
本发明公开了一种智能驾驶中安全舒适高效的ACC跟车速度规划方法,加速跟车时,自车的加速度很大,能很快的追上前车。随后,进入减速段,自车以较小的减速度,车速逐渐减速,慢慢的满足跟车距离的同时,也满足跟车速度的要求,接着,进入匀速阶段。在匀速阶段进行模糊控制,当与前车的碰撞距离在较小的区间时,不刹车也不给油;当碰撞距离较大时,适当的进行微调。此时,车上的乘客不会感觉到有明显的加油门或者刹车动作。当前车突然急刹车时,自车也会及时跟随刹车,从而能有效的避免与前车发生碰撞,保证了乘客和车辆的安全。当前车以不同的速度进行急加速或者急减速时,自车也能作出相应的响应,快速的在距离和速度上收敛。
Safe, comfortable and efficient ACC vehicle following speed planning method in intelligent driving
一种智能驾驶中安全舒适高效的ACC跟车速度规划方法
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Comfortable driving speed evaluated
Elsevier | 1985
Windshield display for safe and comfortable driving
Automotive engineering | 2005
|Windshield Display for Safe and Comfortable Driving
SAE Technical Papers | 2005
|