阅读说明：本技术 一种基于导航的自适应巡航方法及系统 (Navigation-based adaptive cruise method and system ) 是由 顿栋梁 于 2021-08-30 设计创作，主要内容包括：本发明公开了一种基于导航的自适应巡航方法,包括获取本车前方雷达采集信息,判断前方是否存在目标车辆；若不存在目标车辆,则进入定速巡航模式,实时获取车载导航信息,并根据车载导航信息和预设的巡航车速调整第一巡航车速；若存在目标车辆,则进入自适应巡航跟车模式,实时获取车载导航信息和目标车速,并根据车载导航信息和目标车速调整第二巡航车速,当所述目标车辆突然消失时,退出自适应巡航跟车模式,并根据车载导航信息判断道路状况,进入定速巡航模式或匀减速停车。本发明针对道路限速变化、自适应巡航模式下前方目标车辆超速、消失的情况,采取车速调节策略,避免本车超速、误判导致突然加速等安全风险。(The invention discloses a navigation-based self-adaptive cruise method, which comprises the steps of acquiring radar acquisition information in front of a vehicle, and judging whether a target vehicle exists in front; if the target vehicle does not exist, entering a constant-speed cruise mode, acquiring vehicle-mounted navigation information in real time, and adjusting a first cruise vehicle speed according to the vehicle-mounted navigation information and a preset cruise vehicle speed; if the target vehicle exists, entering an adaptive cruise following mode, acquiring vehicle-mounted navigation information and a target vehicle speed in real time, adjusting a second cruise vehicle speed according to the vehicle-mounted navigation information and the target vehicle speed, exiting the adaptive cruise following mode when the target vehicle disappears suddenly, judging the road condition according to the vehicle-mounted navigation information, and entering a constant-speed cruise mode or uniform-deceleration parking. The invention adopts a speed regulation strategy aiming at the conditions of road speed limit change and overspeed and disappearance of a front target vehicle in a self-adaptive cruise mode, and avoids safety risks such as sudden acceleration caused by overspeed and misjudgment of the vehicle.)

1. An adaptive cruise method based on navigation, characterized by comprising:

acquiring radar acquisition information in front of the vehicle, and judging whether a target vehicle exists in front;

if the target vehicle does not exist, entering a constant-speed cruise mode, acquiring vehicle-mounted navigation information in real time, and adjusting a first cruise vehicle speed according to the vehicle-mounted navigation information and a preset cruise vehicle speed;

if the target vehicle exists, entering a self-adaptive cruise following mode, acquiring vehicle-mounted navigation information and a target vehicle speed in real time, and adjusting a second cruise vehicle speed according to the vehicle-mounted navigation information and the target vehicle speed;

and when the target vehicle disappears suddenly, the self-adaptive cruise following mode is exited, the road condition is judged according to the vehicle-mounted navigation information, and the vehicle enters a constant-speed cruise mode or a uniform-deceleration parking mode.

2. The navigation-based adaptive cruise method according to claim 1, wherein said target vehicle is the vehicle in front of the current lane that is closest to said host vehicle within a distance threshold.

3. The navigation-based adaptive cruise method according to claim 2, wherein said vehicle navigation information comprises road speed limit information, path curve information, actual vehicle speed signal and acceleration signal.

4. The navigation-based adaptive cruise method according to claim 3, wherein said first cruise vehicle speed comprises:

if the preset cruising speed is not greater than the road speed limit, the first cruising speed is the preset cruising speed;

and if the preset cruising speed is greater than the road speed limit, the first cruising speed is the road speed limit.

5. The navigation-based adaptive cruise method according to claim 4, wherein said second cruise vehicle speed comprises:

if the target speed is not greater than the road speed limit, the second cruising speed is the target speed;

and if the target speed is greater than the road speed limit, the second cruising speed is the road speed limit.

6. The navigation-based adaptive cruise method according to claim 5, characterized in that said target vehicle speed is a target vehicle actual speed, calculated based on said navigation information and said radar collection information:

wherein v is_pIndicates the target vehicle speed, S₁Indicates that the vehicle is at t ═ t₂-t₁Displacement in time, S₂Representing the displacement of the target vehicle over time t, t₁Indicates the previous time, t₂Indicates the current time, v_fThe average speed of the host vehicle in the time t is shown.

7. The navigation-based adaptive cruise method according to claim 6, wherein said road conditions comprise:

calculating the curvatures of arcs of three points on the navigation path at the previous moment, the current moment and the next moment;

if the curvature is smaller than a preset curvature threshold value, the system judges that the vehicle enters a curve or a turntable and uniformly decelerates to a safe vehicle speed corresponding to the curvature;

if the curvature is larger than a preset curvature threshold value, the system judges that the vehicle is abnormal, and the vehicle is stopped at a uniform deceleration speed or waits for user operation.

8. The navigation-based adaptive cruise method according to claim 7, further comprising:

when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is larger than a vehicle speed difference limit value, controlling the vehicle speed to increase or decrease by 5-10km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed;

and when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is smaller than a vehicle speed difference limit value, controlling the vehicle speed to increase or decrease by 1-3km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed.

9. Navigation-based adaptive cruise method according to claim 8, characterized in that said vehicle speed difference limit is 10-20 lm/h.

10. An adaptive navigation based cruise system, comprising:

a vehicle-mounted navigation system capable of acquiring navigation information;

the radar module can acquire a radar image in front of the vehicle and identify a target vehicle;

the data analysis module is connected with the vehicle-mounted navigation module and the radar module and can calculate the actual speed of the target vehicle according to the navigation information and the radar image;

the self-adaptive cruise module is connected with the radar module and the data analysis module and can adjust a cruise mode and a target vehicle speed according to the actual vehicle speeds of the target vehicle and the target vehicle;

a vehicle speed sensor capable of acquiring an actual vehicle speed of the host vehicle;

and the vehicle control unit is connected with the self-adaptive cruise module and the vehicle speed sensor and can control the acceleration or deceleration of the vehicle according to the actual vehicle speed and the target vehicle speed of the vehicle.

Technical Field

The invention relates to the technical field of self-adaptive cruise, in particular to a navigation-based self-adaptive cruise method.

Background

In order to relieve driving fatigue, the self-adaptive cruise function can automatically control the vehicle to run according to a preset vehicle speed or keep a preset safe following distance with the front vehicle, and the driving fatigue during long-distance driving can be relieved. However, in an actual road, the highest speed limit or the interval speed limit is different, if a driver sets the cruise speed or adjusts the cruise speed, the cruise control needs to be frequently cancelled and set, the driving experience is influenced, and misjudgment is easy to occur in self-adaptive cruise when a curve or a turntable is formed.

Disclosure of Invention

The invention provides a navigation-based self-adaptive cruise method, which is characterized in that a constant-speed cruise mode or a self-adaptive cruise mode is selected by identifying whether a target vehicle exists in front, the vehicle speed is adjusted in real time based on vehicle-mounted navigation information, and when the target vehicle disappears suddenly, the curve curvature is calculated, the road condition is judged, the cruise strategy is adjusted, and the safety performance is high.

The technical scheme of the invention is as follows:

a navigation-based adaptive cruise method, comprising:

acquiring radar acquisition information in front of the vehicle, and judging whether a target vehicle exists in front;

if the target vehicle does not exist, entering a constant-speed cruise mode, acquiring vehicle-mounted navigation information in real time, and adjusting a first cruise vehicle speed according to the vehicle-mounted navigation information and a preset cruise vehicle speed;

if the target vehicle exists, entering a self-adaptive cruise following mode, acquiring vehicle-mounted navigation information and a target vehicle speed in real time, and adjusting a second cruise vehicle speed according to the vehicle-mounted navigation information and the target vehicle speed;

and when the target vehicle disappears suddenly, the self-adaptive cruise following mode is exited, the road condition is judged according to the vehicle-mounted navigation information, and the vehicle enters a constant-speed cruise mode or a uniform-deceleration parking mode.

Preferably, the target vehicle is a vehicle ahead of the current lane and closest to the host vehicle within a distance threshold range.

Preferably, the vehicle-mounted navigation information includes road speed limit information, path curve information, an actual vehicle speed signal and an acceleration signal.

Preferably, the first cruise vehicle speed includes:

if the preset cruising speed is not larger than the road speed limit, the first cruising speed is the preset cruising speed;

and if the preset cruising speed is greater than the road speed limit, the first cruising speed is the road speed limit.

Preferably, the second cruise vehicle speed includes:

if the target speed is not greater than the road speed limit, the second cruising speed is the target speed;

and if the target speed is greater than the road speed limit, the second cruising speed is the road speed limit.

Preferably, the target vehicle speed is an actual vehicle speed of the target vehicle, and is obtained by calculation based on the navigation information and the radar acquisition information:

wherein v is_pIndicates the target vehicle speed, S₁Indicates that the vehicle is at t ═ t₂-t₁Displacement in time, S₂Representing the displacement of the target vehicle over time t, t₁Indicates the previous time, t₂Indicates the current time, v_fThe average speed of the host vehicle in the time t is shown.

Preferably, the road condition includes:

calculating the curvatures of arcs of three points on the navigation path at the previous moment, the current moment and the next moment;

if the curvature is smaller than a preset curvature threshold value, the system judges that the vehicle enters a curve or a turntable and uniformly decelerates to a safe vehicle speed corresponding to the curvature;

if the curvature is larger than the preset curvature threshold value, the system judges that the vehicle is abnormal, and the vehicle is stopped at the uniform deceleration speed or waits for the operation of a user.

Preferably, the method further comprises the following steps:

when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is larger than the vehicle speed difference limit value, controlling the vehicle speed to increase or decrease at 5-10km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed;

and when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is smaller than the vehicle speed difference limit value, controlling the vehicle speed to increase or decrease by 1-3km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed.

Preferably, the vehicle speed difference limit is 10-20 lm/h.

A navigation-based adaptive cruise system, comprising:

a vehicle-mounted navigation system capable of acquiring navigation information;

the radar module can acquire a radar image in front of the vehicle and identify a target vehicle;

the data analysis module is connected with the vehicle-mounted navigation and radar module and can calculate the actual speed of the target vehicle according to the navigation information and the radar image;

the self-adaptive cruise module is connected with the radar module and the data analysis module and can adjust the cruise mode and the target speed according to the actual speeds of the target vehicle and the target vehicle;

a vehicle speed sensor capable of acquiring an actual vehicle speed of the host vehicle;

and the vehicle control unit is connected with the adaptive cruise module and the vehicle speed sensor and can control the acceleration or deceleration of the vehicle according to the actual vehicle speed and the target vehicle speed of the vehicle.

The invention has the beneficial effects that:

1. the invention provides a navigation-based self-adaptive cruise method, which is used for automatically adjusting the speed of a vehicle to be the road speed limit when the set constant-speed cruise vehicle speed exceeds the current road speed limit, avoiding the overspeed risk, reducing the operation frequency of a user for adjusting the cruise vehicle speed and improving the driving experience.

2. The invention provides a navigation-based self-adaptive cruise method, which is characterized in that when a front target vehicle exceeds the current road speed limit in a self-adaptive cruise mode, the speed is automatically adjusted to the road speed limit, so that the overspeed risk of the vehicle is avoided.

3. The invention provides a navigation-based self-adaptive cruise method, which can automatically adjust a cruise strategy when a front target vehicle disappears or is lost suddenly in a self-adaptive cruise mode, and avoid the risk of sudden and rapid acceleration of the vehicle following in a curve or a turntable and the like.

Drawings

Fig. 1 is a flowchart of an adaptive cruise method based on navigation according to the present invention.

Fig. 2 is a diagram of an adaptive cruise framework based on navigation according to the present invention.

FIG. 3 is a flow chart of a navigation based adaptive cruise control method in an embodiment of the present invention.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "in" and the like refer to directions or positional relationships based on those shown in the drawings, which are for convenience of description only, and do not indicate or imply that a device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1, the navigation-based adaptive cruise method includes:

s110, acquiring radar acquisition information in front of the vehicle, and judging whether a target vehicle exists in front;

the target vehicle is a vehicle which is in front of the current lane and is closest to the vehicle within a distance threshold range. And processing and identifying the characteristics of the image according to the radar acquisition information to obtain the information of the target vehicle, wherein the target vehicle is constantly changed in the running process of the vehicle.

S120, if the target vehicle does not exist, entering a constant-speed cruise mode, acquiring vehicle-mounted navigation information in real time, and adjusting a first cruise vehicle speed according to the vehicle-mounted navigation information and a preset cruise vehicle speed;

the vehicle-mounted navigation information comprises road speed limit information, path curve information, an actual vehicle speed signal and an acceleration signal.

If the preset cruising speed is not larger than the road speed limit, the first cruising speed is the preset cruising speed;

and if the preset cruising speed is greater than the road speed limit, the first cruising speed is the road speed limit.

S130, if the target vehicle exists, entering a self-adaptive cruise following mode, acquiring vehicle-mounted navigation information and a target vehicle speed in real time, and adjusting a second cruise vehicle speed according to the vehicle-mounted navigation information and the target vehicle speed;

if the target speed is not greater than the road speed limit, the second cruising speed is the target speed;

and if the target speed is greater than the road speed limit, the second cruising speed is the road speed limit.

The target vehicle speed is the actual vehicle speed of the target vehicle, and is obtained through calculation based on the navigation information and the radar acquisition information:

wherein v is_pIndicates the target vehicle speed, S₁Indicates that the vehicle is at t ═ t₂-t₁Displacement in time, S₂Representing the displacement of the target vehicle over time t, t₁Indicates the previous time, t₂Indicates the current time, v_fThe average speed of the host vehicle in the time t is shown.

And S140, when the target vehicle disappears suddenly, the self-adaptive cruise and follow-up mode is exited, the road condition is judged according to the vehicle-mounted navigation information, and the vehicle enters a constant-speed cruise mode or a uniform deceleration parking mode.

Calculating the curvatures of arcs of three points on the navigation path at the previous moment, the current moment and the next moment;

if the curvature is smaller than a preset curvature threshold value, the system judges that the vehicle enters a curve or a turntable and uniformly decelerates to a safe vehicle speed corresponding to the curvature;

if the curvature is larger than the preset curvature threshold value, the system judges that the vehicle is abnormal, and the vehicle is stopped at the uniform deceleration speed or waits for the operation of a user.

The formula for calculating the curvature is:

wherein k represents a curvature, (x)₁,y₁) Represents the coordinates of the point on the navigation path at the last moment, (x)₂,y₂) Representing the coordinates of a point on the navigation path at the current time, (x)₃,y₃) Indicating the coordinates of the point on the navigation path at the next instant.

Further still include:

preferably, the method further comprises the following steps:

when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is larger than the vehicle speed difference limit value, controlling the vehicle speed to increase or decrease at 5-10km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed;

and when the difference value between the first cruise vehicle speed or the second cruise vehicle speed and the actual vehicle speed is smaller than the vehicle speed difference limit value, controlling the vehicle speed to increase or decrease by 1-3km/h until the actual vehicle speed is consistent with the first cruise vehicle speed or the second cruise vehicle speed.

Preferably, the vehicle speed difference limit is 10-20 lm/h.

According to the method, whether a constant-speed cruise mode or a self-adaptive cruise mode is selected by a target vehicle in front is identified, the vehicle speed is adjusted in real time based on vehicle-mounted navigation information, and when the target vehicle disappears suddenly, the curve curvature is calculated, the road condition is judged, the cruise strategy is adjusted, the overspeed risk is avoided, the manual operation frequency of a user is reduced, the driving experience is improved, and the safety performance is high.

As shown in fig. 2, the navigation-based adaptive cruise system includes an on-vehicle navigation 100, a radar module 200, a data analysis module 300, an adaptive cruise module 400, a vehicle speed sensor 500, and a vehicle control unit 600.

The vehicle-mounted navigation system comprises a vehicle-mounted navigation 100, a radar module 200, a data analysis module 300, a vehicle-mounted navigation module 400, a vehicle speed sensor 500, a vehicle control unit 600, a radar module 200 and a data analysis module 300, wherein the vehicle-mounted navigation 100 can acquire navigation information, the radar module 200 can acquire a radar image in front of the vehicle and identify a target vehicle, the data analysis module 300 is connected with the vehicle-mounted navigation 100 and the radar module 200 and can calculate the actual vehicle speed of the target vehicle according to the navigation information and the radar image, the adaptive cruise module 400 is connected with the radar module 200 and the data analysis module 300 and can adjust a cruise mode and the target vehicle speed according to the actual vehicle speed of the target vehicle and the actual vehicle speed of the target vehicle, the vehicle speed sensor 500 can acquire the actual vehicle speed of the vehicle, and the vehicle control unit 600 is connected with the adaptive cruise module 400 and the vehicle speed sensor 500 and can control the acceleration or deceleration of the vehicle according to the actual vehicle speed and the target vehicle speed of the vehicle.

In one embodiment, the navigation-based adaptive cruise control method is shown in figure 3,

step 1, after a vehicle is powered on and started, the vehicle control unit 600 detects whether an adaptive cruise function switch is turned on, if not, the current state is maintained, and if so, the next step is carried out;

step 2, the vehicle control unit 600 detects whether the vehicle is currently activated, that is, whether the vehicle is currently in the adaptive cruise state, if the vehicle is not in the adaptive cruise state, the vehicle control unit maintains the current state, waits for a user instruction, and if the vehicle is in the adaptive cruise state, the vehicle control unit enters the next step;

step 3, in the constant-speed cruise mode, the vehicle control unit 600 receives a detection signal of the radar module 200, judges whether a vehicle exists in the front of the vehicle, and enters the constant-speed cruise mode if no vehicle exists in the front, and the vehicle control unit 600 receives information of the vehicle navigation 100 in real time: road speed limit information and actual vehicle speed signal v_cAn acceleration signal AC;

when the user sets the cruising speed v_sSpeed limit v below road_mWhen is, i.e. v_s＜v_mFirst cruising speed v_b1Cruise speed v set for a user_b1＝v_s；

When the user sets the cruising speed v_sSpeed limit v above road_mWhen is, i.e. v_s＞v_mAt first cruising speed v at which the vehicle is cruising_b1Speed limit v for current road_mI.e. the target vehicle speed v at which the vehicle is cruising_b1＝v_m；

The vehicle control unit 600 controls the actual vehicle speed v by receiving the navigation information, the vehicle speed signal, the acceleration signal and the braking signal_cReaching a cruising target vehicle speed v_b1；

Step 4, if a vehicle exists in front, locking the vehicle with the shortest distance in front of the current lane as a target vehicle, entering a following mode of self-adaptive cruise, and entering the next step;

step 5, when entering the self-adaptive cruise following mode, the vehicle control unit 600 receives the information of the vehicle navigation 100 in real time and compares the speed v of the front target vehicle_pAnd road speed limit value v_mCurrent square target vehicle speed v_pExceeding the current road speed limit v_mWhen is, i.e. v_p＞v_mIn time, the vehicle control unit 600 adjusts the second cruise vehicle speed to the target vehicle speed v_b2＝v_m。

Current target vehicle speed v_pSpeed limit v not exceeding current road_mWhen is, i.e. v_p＜v_mIn time, the vehicle control unit 600 adjusts the purpose of vehicle cruisingTarget vehicle speed v_b2＝v_pAnd the user-set safety distance is maintained.

When the vehicle ahead of the vehicle suddenly disappears, the vehicle control unit 600 further calculates the curvatures k of arcs of three points of the navigation path at the previous time, the current time and the next time according to the navigation path information, if the curvatures k are smaller than the set curvatures k₀I.e. k < k₀The system judges that the vehicle enters a curve or a turntable, the system exits the following mode of the self-adaptive cruise, and the vehicle is uniformly decelerated to the safe vehicle speed v corresponding to the curvature of the set navigation path_a；

If the curvature k is greater than the set curvature k₀I.e. k > k₀If the system is judged to be abnormal, the system exits the following mode of the self-adaptive cruise, the speed is uniformly reduced to 0 until the vehicle stops, or the operation of a user is waited.

The above descriptions are only examples of the present invention, and common general knowledge of known specific structures, characteristics, and the like in the schemes is not described herein too much, and it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.