CN108860148A - Self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model - Google Patents
Self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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Abstract
The invention discloses a kind of self-adapting cruise control methods based on driver's follow the bus characteristic Safety distance model, mainly include the following steps that：Step 1：On the basis of analyzing workshop motion state, the safe follow the bus spacing model for meeting driver's follow the bus characteristic is designed；Step 2：Establish the continuous car-following model of ACC system quadravalence；Step 3：The safe follow the bus spacing model that step 1 is established is followed into target as adaptive cruise upper layer decision making algorithm.Present invention expectation safe distance selected by traditional adaptive cruise top level control algorithm redesigns safety with following distance and applies in the decision making algorithm of upper layer aiming at the problem that not meeting practical driver characteristics, so that self-adaption cruise system to the handling characteristic of vehicle closer to the manipulation behavior of experienced driver, improve the acceptance and utilization rate of system.
Description
Technical field
The present invention relates to a kind of designs of advanced DAS (Driver Assistant System) of hommization (ADAS), are based on driving especially with regard to one kind
The self-adapting cruise control method of the person's of sailing driving performance.
Background technique
As vehicle population is continuously increased, road is crowded, energy shortage, environmental pollution and the problems such as traffic accident increasingly
It is prominent, so that the intelligent transportation system (ITS) based on electronics, communication, control and information technology is come into being.In people-
In Che-road traffic system component part, driver due to psychology, physiology and in terms of there are certain fluctuations
And limitation, inevitably there is tired erroneous judgement behavior and lead to traffic accident, therefore becomes weakest link in ITS.Advanced driving
Auxiliary system (ADAS) is research core with driver, reduces people to the perception on " vehicle " " road " and decision-making capability by raising " people "
For traffic accident.
The important component that self-adaption cruise system (ACC) is assisted as ADAS longitudinal drive, instead of driver according to
Surrounding driving conditions make a policy and control, and more and more apply in vehicle.In view of the increasingly Sheng of ACC system
Row, user just become more and more important evaluation index to the acceptance and satisfaction of ACC system this technology.Although ACC
Use have potential benefit, but there is correlative study to show upon power-up of the system simultaneously, driver is it is possible that negative is
System behaviour adaptation.
The characteristics of for current ACC system control algolithm research, while considering that vehicle is manipulated on road by driver
The vehicles of traveling embody the operation behavior characteristic of corresponding driver, vapour from each car in terms of macro-traffic flow angle
How the important component that vehicle ACC system is assisted as longitudinal drive in ADAS makes ACC system have hommization, so that
Its operation behavior should be consistent with the operation behavior of experienced driver as far as possible, be critical issue urgently to be resolved at present.Clearly
Hua Da Li Sheng wave etc. follows spacing control algolithm using MPC Theoretical Design, applies the cost function peace treaty of algorithm in the design
Beam describes tracking performance, comfort property and driver's expected response (Chinese patent:CN 101417655, a kind of " more mesh of vehicle
Mark coordinated self-adapting cruise control method "), but selected by the method with following distance to the follow the bus characteristic of driver consider compared with
It is few.Wang Jianqiang, Qin Xiaohui et al. are designed (Chinese patent to the safety of follow the bus and followability in the design of ACC system：
CN103171545, " a kind of automotive throttle and braking integrated control system and control method "), have ignored relaxing in driving conditions
The indexs such as adaptive and fuel economy.Therefore, in the research of ACC system control system and the specific implementation of corresponding control algolithm
Need to analyze and study driver in journey to the following behavior of vehicle.On the one hand, it is provided with following distance for subsequent ACC control algolithm
Reference input value is the first step for designing ACC control system.It designs the follow the bus behavior that meet practical driver, too small
Spacing can make driver feel under the weather to even result in workshop risk of collision, and excessive spacing not only loses road traffic flow,
It is also possible to cause frequent lane-change disorderly to jump the queue phenomenon, to influence the follow the bus efficiency of system, therefore selects suitable following distance plan
Slightly can not only road improvement traffic utilization rate, and automobile trace performance and shop safety can be improved.On the other hand, exist
When studying specific control mode of the ACC system to car speed or spacing, it is also necessary to the feed speed control for studying driver is intended to,
Research experienced driver is how according to extraneous road traffic environment information to be adjusted such that ACC to car speed or following distance
System will not make driver generate discomfort when carrying out control action to vehicle, to improve the utilization rate of system.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide one kind can comprehensively consider the adaptive of driver's follow the bus characteristic
The upper layer decision-making technique of cruise system, it is including the design with following distance strategy and algorithm, i.e., a kind of to be based on driver's follow the bus characteristic
The self-adapting cruise control method of Safety distance model.
To achieve the above object, the present invention takes following technical scheme：
A kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model, includes the following steps：
Step 1：To workshop motion state analyze on the basis of, design meet driver's follow the bus characteristic safety with
Following distance model；
Step 2：Establish the continuous car-following model of ACC system quadravalence；
Step 3：Safe follow the bus spacing model that step 1 is established as adaptive cruise upper layer decision making algorithm with
With target.
A kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model, in step 1
It includes following steps that design, which meets the safe follow the bus spacing model of driver's follow the bus characteristic,：
(1) minimum is kept into following distance d0It is taken as driver's classification k and track situationFunctional form, i.e.,
(2) operating condition one：Current guide-car is in the state that drives at a constant speed and Following Car speed is more than or equal to preceding guide-car's speed, at this time
Following Car slows down, when Following Car speed is decelerated to it is identical as preceding guide-car's speed when remain a constant speed traveling, two vehicles are in stable state at this time
Following state, the safe distance that can obtain stable state following state by practical driving data need to keep are：
Wherein, SconstIt is stable state with following distance, τ is linear coefficient, value 1.36, vfFor Following Car initial velocity；
To guarantee safety, by kinematic relation, we can derive following relational expression：
Sp-Sf+D≥Sconst (2)
Wherein, D is the initial spacing of two vehicles, SfFor the distance travelled in moderating process from vehicle, SpBefore in moderating process
The distance of guide-car's traveling, and then show that the expression formula under the situation safely with following distance is：
(3) when front truck slows down and Following Car speed is greater than front truck and front truck deceleration Following Car speed less than front truck, by
Formula (2) can obtain is with following distance expression formula safely：
(4) for other operating conditions of driving a vehicle, safety is with following distance expression formula:
A kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model, in step 2
The continuous car-following model of ACC system quadravalence is established, is mainly included the following steps that：
(1) it takes ACC vehicle acceleration derivative jerk (t) as following state variable, obtains following formula：
Wherein, τ is the time constant of ACC system lower layer control, afIt (t) is ACC vehicle acceleration, ades(t) it is calculated for upper layer
Expectation acceleration value out, τ1For constant value；
(2) based on traditional third-order model arrange the continuous car-following model of ACC system quadravalence is：
Wherein, D (t) is the practical spacing of two vehicles of radar surveying, vrel(t)=vp(t)-vf(t), vp(t) refer to front truck
Travel speed, vfIt (t) is the travel speed of Following Car, u (t) is the expectation acceleration value of controller output, apIt (t) is front truck
Acceleration,
A kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model, in step 3
Target is followed to mainly include the following steps that as upper layer decision making algorithm the safe follow the bus spacing model that step 1 is established：
After the multiple traveling targets to be met during to ACC follow the bus analysis, asked under Model Predictive Control frame
Optimal solution is solved, the reference input value of controller is：
R (k+i)=[Ddes(k) 0 0 0]T (8)
Wherein, Ddes(k) the safe follow the bus spacing model established for the step 1.
The present invention, compared to existing method, has the following advantages that due to taking above technical scheme：
1. considering to initially set up the safe distance mould for meeting driver's follow the bus characteristic the present invention is based on driver's follow the bus characteristic
Type follows target as self-adaption cruise system, keeps system more humanized to the manipulation behavior of vehicle.
2. the present invention establishes the continuous car-following model of self-adaption cruise system quadravalence, more true and reliable describing is adaptive
The Workshop Dynamic Evolution of cruise system.
3. the present invention completes the design of upper layer algorithm on Model Predictive Control frame, make what is established with following distance
For the reference input of algorithm, for the control system that Model Predictive Control Algorithm is used compared to other, the people of system is improved
The acceptance of property degree and driver to system.
Detailed description of the invention
Fig. 1 is front truck and Following Car motion process schematic diagram.
Fig. 2 is Safety distance model logic diagram established by the present invention.
Fig. 3 is that front truck at the uniform velocity Following Car speed is compared greater than front truck condition model numerical value.
Fig. 4 is that front truck deceleration Following Car speed is compared greater than front truck condition model numerical value.
Fig. 5 is that front truck deceleration Following Car speed is compared less than front truck condition model numerical value.
Fig. 6 is the response of stable state Car following ACC car speed.
Fig. 7 is the response of stable state Car following ACC vehicle acceleration.
Fig. 8 is stable state Car following ACC vehicle jerk response.
Specific embodiment
The following is further explained with reference to the attached drawings particular content and embodiments thereof of the invention.
A kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model proposed by the present invention,
Include the following steps：
Step 1：To workshop motion state analyze on the basis of, design meet driver's follow the bus characteristic safety away from
From model；
Step 2：Establish the continuous car-following model of ACC system quadravalence；
Step 3：The Safety distance model that step 1 is established is followed into mesh as adaptive cruise upper layer decision making algorithm
Mark.
The present invention is based on the design of the upper layer decision of the self-adaption cruise system of one step 2 of above-mentioned steps and step 3 is main
Including following three parts content：1, meet the design of the safe follow the bus spacing model of driver's follow the bus characteristic；2, establish includes vehicle
Rate of acceleration change is the quadravalence continuous adaptive cruise system workshop twisting movement model of state variable；It 3, will be interior
Hold 1 model established as control algolithm desired reference value, devised under model prediction frame a compromise between security, with
Che Xing, comfort and the multiple target of fuel-economizing self-adaption cruise system top level control algorithm.
1. meeting the design of the safe follow the bus spacing model of driver's follow the bus characteristic
Assuming that two vehicle initial phases are away from for D, and it is opposing stationary through time t and front truck from vehicle, it is at this time S from the distance that vehicle is passed byf,
The distance that front truck is passed by is Sp, D1Following distance is kept for minimum, as shown in Figure 1.
1. front truck is at the uniform velocity, Following Car speed is greater than front truck.Driver is during follow the bus, with the preceding car state received
And two vehicle velocity contrast come adjust in real time with following distance.Such as Fig. 1, under the operating condition, Following Car is decelerated to and preceding vehicle speed
When equal, Following Car is travelled at this time distance sfExpression formula be：
The distance s that front truck is travelledpExpression formula be：
Wherein, TrFor time of driver's reaction, TiFor braking system delay time, amFor maximum braking deceleration, vfFor with
With vehicle initial velocity, vpFor front truck initial velocity.D1Safe following distance when for two vehicle speeds when equal, that is, stable state follow the bus, by
The safe distance that practical driving data need to be kept when can obtain stable state follow the bus is：
Wherein, SconstIt is stable state with following distance, τ is linear coefficient, value 1.36, vfFor Following Car initial velocity；
D can be obtained by kinematic relation1It should be greater than being equal to Sconst, i.e.,：
sp-sf+D≥Sconst (4)
Minimum keeps following distance d0It is taken as driver's classification k and track situationFunctional form, i.e.,
In addition, for different types of driver, d0Selection it is also different, for conservative driver, d0Value with regard to relatively large,
And the driver of radical type then tends to smaller d0.Equally, in face of the different selected d of pavement conditions driver0Value also can
It is different.Based on above-mentioned consideration, minimum keeps following distance to be represented by following form：
K value is set by driver according to the intention of itself, and c and d are constant value,For the attachment coefficient of road,
As shown in table 1.
Coefficient of road adhesion under the different road surface varying environments of table 1
Due to d0Value range be 2-5m, therefore we can obtain d according to above table data0Expression-form be
And then show that the expression-form under the situation safely with following distance is：
2. front truck is in on-position, when Following Car speed is more than or equal to front truck.
If Following Car does not take timely deceleration-operation, vehicle rear-end collision accident will occur.Since front truck is actively subtracted at this time
Speed operation is not necessarily to reaction time, therefore the braking distance s of front truckpExpression formula be：
Following Car passes through reaction time TrAfter start to brake, then its braking distance sfExpression formula be：
To sum up, the expression-form that can obtain the required safe distance D under the driving situation is：
3. front truck is in on-position, when Following Car speed is less than or equal to front truck.
Two vehicles are in a safe condition at this time, when front truck decelerates to speed less than Following Car speed, if Following Car is not taken
Brake operating, it would be possible to rear-end collision occur.Assuming that its deceleration has reached most when front truck decelerates to identical as Following Car speed
Big value, then decelerating to required time when Following Car speed is equal from front truck initial velocity is：
During this period, the distance s of Following Car travelingf1Expression formula is
When two vehicle speeds are equal, Following Car needs to take brake operating, then the braking distance of Following Car is
Therefore the total operating range of Following Car can be obtained is
Since front truck is constantly in uniformly retarded motion, so front truck braking distance is
Therefore required safe distance expression formula under the driving condition can be obtained is
4. other driving cycles
In conclusion the Safety distance model established herein is as follows：
2, quadravalence continuous adaptive cruise system workshop twisting movement model
Take the practical following distance of two vehicles and two vehicle speed differences as state variable, expression formula is as follows：
It obtains its spacing in turn and the change rate of speed difference is：
Wherein, Sp(t) and SfIt (t) is the distance of front truck during follow the bus and ACC vehicle traveling, vp(t) and apIt (t) is front truck
Velocity and acceleration, vf(t) and afIt (t) is the velocity and acceleration of ACC vehicle, D (t) is the practical spacing of two vehicles of radar surveying,
D0For the initial spacing of two vehicles.
When designing the top level control of ACC system, due to the basis for thering is lower layer to control, thus it is considered that vehicle is actually defeated
The acceleration command of acceleration value and upper layer out meets following relational expression：
In order to guarantee system comfort level, we are chosenIt is limited as state variable and to it, root
According to pertinent literature, we, which are arranged, obtains the approximate expression of jerk (t), and by front truck acceleration ap(t) it is considered as disturbing for ACC system
It is dynamic, and then the kinematics model that can obtain system is:
I.e.
3. using the Safety distance model of foundation as adaptive cruise upper layer decision making algorithm under Model Predictive Control frame
Follow target.
(1) constrained optimization case study：
The most important control purpose of ACC system is to ensure that safety, therefore we need the reality to two vehicles here
It is as follows that border following distance carries out a stringent constraint：
D(k)≥dS0 (24)
Wherein, dS0It is 5m for minimum our values of following distance.
When being in stable state following state, tracking error will converge to zero, i.e. the practical spacing of two vehicles levels off to safe distance
The distance that model calculates, ACC vehicle speed tend to preceding vehicle speed, this is also just meeting the follow the bus psychology of driver, i.e.,：
For convenience of the design of subsequent algorithm, we quantify target two as follows here：
L1=Γy1Δd2+Γy2vrel 2 (26)
As the ACC system top level control for playing the part of driver role, riding comfort and fuel economy are also ACC important
Evaluation index.It is obtained about comfort pertinent literature by the investigation and analysis to a large amount of drivers：Riding comfort available rows
Acceleration and rate of acceleration change jerk are sailed to characterize, value is smaller, and riding comfort is higher；During follow the bus, fuel oil
Consumption is increased as vehicle acceleration absolute value increases；Therefore, we are to the acceleration and acceleration change in driving process
Rate optimizes：
Equally, we are as follows to the quantization of target three here：
L2=Γy3af 2+Γy2jerkf 2 (28)
Meanwhile to guarantee the comfort in entire driving conditions, vehicle acceleration and jerk value are answered constrained as follows：
According to above-mentioned analysis, the reference input of controller is taken as into form：
R (k+i)=[Ddes(k) 0 0 0]T (30)
And then on the basis of Model Predictive Control frame, we switch to the above-mentioned follow the bus problem for most adapting to cruise as follows
Line solver quadratic programming Optimal solution problem：
Subjectto,CuΔU(k)≥b(k+1|k)
Since the complexity that model prediction algorithm calculates is higher, solve using general quadratic programming program may be led
The delay on calculating is caused, therefore is carried out herein using Hildreth ' s Quadratic Programming Procedure algorithm
Solve and then obtain optimal control sequence Δ U* (k).It can thus be concluded that：
ades(k)=ades(k-1)+[1 0 … 0]ΔU*(k) (32)
Then the operation is repeated in next sampling instant.
In experiment, the control parameter of ACC system top level control strategy distinguishes value and is：
Ts=τ1=0.1s, τ=0.45, p=3, m=3, Γy1=15, Γy2=15, Γy3=10, Γy4=2, amin=-
4m/s2, amax=2m/s2, jerkmax=2m/s3,jerkmin=-2m/s3, ds0=5m.
Fig. 3~Fig. 5 is the Safety distance model established with the comparison of traditional Safety distance model, it can be seen that compared to biography
System model model established by the present invention increases the magnitude of traffic flow on the basis of guaranteeing safety, and the follow the bus for meeting driver is special
Property.System response diagram of Fig. 6~Fig. 8 for the adaptive cruise upper layer decision established of this paper under stable state Car following, ACC vehicle
Initial velocity with front truck is 15m/s, and initial spacing is 20m.The practical following distance of two vehicles is calculated equal to Safety distance model at this time
Safe distance out, therefore it is in stable state at the uniform velocity following state, in t=2s, front truck is with -1m/s2Deceleration decelerate to
9m/s, and in t=7s with 0.8m/s2Acceleration accelerate to after 15m/s and continue to keep to drive at a constant speed, can from Fig. 6 and Fig. 7
Out, during stable state follow the bus, face the frequent speed change behavior of front vehicles, based under MPC algorithm its speed of ACC vehicle and
Acceleration responsive will be slightly faster than based on the ACC vehicle under LQ algorithm, from Fig. 8 we see that being based on during entire follow the bus
Jerk average value under MPC algorithm is less than based on the ACC vehicle under LQ algorithm, improves system comfort level.
Claims (4)
1. a kind of self-adapting cruise control method based on driver's follow the bus characteristic Safety distance model, which is characterized in that including
Following steps：
Step 1：On the basis of analyzing workshop motion state, the safety for meeting driver's follow the bus characteristic is designed with workshop
Away from model；
Step 2：Establish the continuous car-following model of ACC system quadravalence；
Step 3：The safe follow the bus spacing model that step 1 is established is followed into mesh as adaptive cruise upper layer decision making algorithm
Mark.
2. a kind of adaptive learning algorithms side based on driver's follow the bus characteristic Safety distance model as described in claim 1
Method, which is characterized in that it includes following several that design, which meets the safe follow the bus spacing model of driver's follow the bus characteristic, in the step 1
A step：
(1) minimum is kept into following distance d0It is taken as driver's classification k and track situationFunctional form, i.e.,
(2) operating condition one：Current guide-car is in the state that drives at a constant speed and Following Car speed is more than or equal to preceding guide-car's speed, follows at this time
Vehicle slows down, when Following Car speed is decelerated to it is identical as preceding guide-car's speed when remain a constant speed traveling, two vehicles are in stable state follow the bus at this time
State, the safe distance that can obtain stable state following state by practical driving data need to keep are：
Wherein, SconstIt is stable state with following distance, τ is linear coefficient, value 1.36, vfFor Following Car initial velocity；
To guarantee safety, following relational expression can be derived by kinematic relation：
Sp-Sf+D≥Sconst
Wherein, D is the initial spacing of two vehicles, SfFor the distance that Following Car travels in moderating process, SpIt is leading in moderating process
The distance of vehicle traveling, and then show that the expression formula under the situation safely with following distance is：
(3) current guide-car is slowed down and Following Car speed is greater than preceding guide-car or when preceding guide-car's deceleration Following Car speed is less than preceding guide-car,
It can be obtained by formula (2) and be with following distance expression formula safely：
(4) for other operating conditions of driving a vehicle, safety is with following distance expression formula:
3. a kind of adaptive learning algorithms side based on driver's follow the bus characteristic Safety distance model as described in claim 1
Method, which is characterized in that establish the continuous car-following model of ACC system quadravalence in the step 2, mainly include the following steps that：
(1) it takes ACC vehicle acceleration derivative jerk (t) as following state variable, obtains following formula：
Wherein, τ is the time constant of ACC system lower layer control, afIt (t) is ACC vehicle acceleration, ades(t) calculated for upper layer
It is expected that acceleration value, τ1For constant value；
(2) based on traditional third-order model arrange the continuous car-following model of ACC system quadravalence is：
Wherein, D (t) is the practical spacing of two vehicles of radar surveying, vrel(t)=vp(t)-vf(t), vp(t) row of guide-car before referring to
Sail speed, vfIt (t) is the travel speed of Following Car, u (t) is the expectation acceleration value of controller output, ap(t) for preceding guide-car's
Acceleration,
4. a kind of adaptive learning algorithms side based on driver's follow the bus characteristic Safety distance model as described in claim 1
Method, which is characterized in that the safe follow the bus spacing model for being established step 1 in the step 3 is as upper layer decision making algorithm
Target is followed to mainly include the following steps that：
After the multiple traveling targets to be met during to ACC follow the bus analysis, solved most under Model Predictive Control frame
The reference input value of excellent solution, controller is：
R (k+i)=[Ddes(k) 0 0 0]T
Wherein, Ddes(k) the safe follow the bus spacing model established for the step 1.
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| CN109703560A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The method for automatically controlling automatic driving vehicle and following distance between vehicle |
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| CN111376903A (en) * | 2018-12-29 | 2020-07-07 | 长城汽车股份有限公司 | Vehicle control method and device and vehicle |
| CN109703560A (en) * | 2019-01-25 | 2019-05-03 | 安徽酷哇机器人有限公司 | The method for automatically controlling automatic driving vehicle and following distance between vehicle |
| CN111717212A (en) * | 2019-03-18 | 2020-09-29 | 长城汽车股份有限公司 | Following control method and device for automatic driving vehicle |
| WO2020187254A1 (en) * | 2019-03-18 | 2020-09-24 | 长城汽车股份有限公司 | Longitudinal control method and system for automatic driving vehicle |
| CN110182215A (en) * | 2019-05-23 | 2019-08-30 | 南京航空航天大学 | A kind of vehicle economy cruise control method and device |
| CN110335504A (en) * | 2019-07-04 | 2019-10-15 | 北京交通大学 | Intelligent collision warning system and method based on bus or train route collaboration under vehicle follow gallop state |
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| CN110588652A (en) * | 2019-08-16 | 2019-12-20 | 江苏大学 | Low-oil-consumption vehicle adaptive cruise control system and control method thereof |
| CN111572537A (en) * | 2020-03-03 | 2020-08-25 | 张丽 | Safe distance adjusting platform applying big data processing |
| CN111562739B (en) * | 2020-04-30 | 2022-03-11 | 重庆大学 | Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in ring |
| CN111562739A (en) * | 2020-04-30 | 2020-08-21 | 重庆大学 | Man-machine hybrid intelligent cooperative vehicle following control method for keeping driver in ring |
| CN111547064A (en) * | 2020-05-26 | 2020-08-18 | 吉林大学 | Driving style recognition and classification method for automobile adaptive cruise system |
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| WO2022016351A1 (en) * | 2020-07-21 | 2022-01-27 | 华为技术有限公司 | Method and apparatus for selecting driving decision |
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| CN112158200A (en) * | 2020-09-25 | 2021-01-01 | 厦门大学 | Intelligent electric vehicle following control system and method based on driver characteristics |
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| CN114506321B (en) * | 2022-01-31 | 2023-09-29 | 重庆长安汽车股份有限公司 | Target following distance calculation system and calculation method |
| CN114987472A (en) * | 2022-02-22 | 2022-09-02 | 青岛德智汽车科技有限公司 | Following type automatic driving automobile following control method based on feedforward control |
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