40 results about "Cooperative Adaptive Cruise Control" patented technology

The invention relates to a vehicle adaptive cruise control system. The vehicle adaptive cruise control system is characterized in that an information collecting unit, a lane changing early warning unit, an adaptive cruise control unit and a vehicle dynamics unit are included; the information collecting unit collects and processes the driving state information of a vehicle, and sends the driving state information to the lane changing early warning unit and the adaptive cruise control unit; the lane changing early warning unit calculates the lane changing minimum safety distance between the own vehicle and surrounding vehicles according to the received effective vehicle movement information, and judges lane changing risks according to a calculation result, an early warning is carried out on the vehicle according to a judgment result, and the judgment result is sent to the vehicle adaptive cruise control unit; the vehicle adaptive cruise control unit selects a control mode according to the vehicle movement information and the lane changing risk judgment result, calculates expected longitudinal acceleration needed by vehicle longitudinal driving, and sends the calculated expected longitudinal acceleration to the vehicle dynamics unit; the vehicle dynamics unit converts the expected longitudinal acceleration into an expected air valve opening degree or braking pressure and sends the expected air valve opening degree or the braking pressure to a vehicle object, and the longitudinal control over the vehicle object is completed.

The invention relates to a method for the team formation and the separation of a cooperative adaptive cruise control vehicle team. The method comprises the following steps that: S1) defining a relevant critical distance, a safe distance, team formation upper limit length and the like; S2) sending a self-vehicle state to other vehicles by a vehicle, and receiving vehicle team adding or leaving information sent from surrounding driven vehicles; S3) detecting and identifying a vehicle distance and the surrounding environment of the vehicle; and S4) analyzing the information received by each vehicle according to a self-set rule set by a control system, feeding back an execution result to a communication system, and releasing execution information to each vehicle by a communication system. Themethod formulates various self-set rules for vehicle team formation and separation, wherein the self-set rules include a rule for adding a single vehicle into the vehicle team, a rule for carrying outvehicle team formation, and a rule for separating the vehicle team into a plurality of vehicle teams. Therefore, the team formation and the separation of the cooperative adaptive cruise control vehicle team can be realized.

The invention discloses a distributed cooperative adaptive cruise control (CACC) method near an intersection based on wireless communication, and aims to provide an optimal route proposal for each vehicle so that the vehicle can pass through the intersection without being interrupted, and minimize an intersection delay so that as many vehicles as possible can pass through the intersection. The method is characterized by fully utilizing the V2X communication technology and an ACC system to establish a distributed CACC vehicle motion model suitable for a road intersection; utilizing a fleet control method based on a particle swarm optimization algorithm to effectively reduce the tracking error of the vehicle; using a trajectory planning method and a space management method to provide convenience for a sub-fleet or an individual vehicle to accelerate through the intersection or decelerate to wait for a next opportunity; and reorganizing the fleet to increase the throughput of the intersection in consideration of vehicle safety, fuel consumption, speed limit, different characteristics of the vehicle and passenger comfort.

A cooperative adaptive cruise control (CACC) system acquires a driving pattern of a target vehicle and variably provides an inter-vehicle distance and a responsible speed level of a subject vehicle that are followed by the CACC system based on the driving pattern. The CACC system includes a communication unit receiving vehicle information and road information of a region in which the subject vehicle travels; an information collection unit collecting driving information of a forward vehicle, vehicle information of the subject vehicle, and the road information; and a control unit controlling the inter-vehicle distance and the responsible speed level of the CACC system based on the driving pattern of the target vehicle according to generated control information.

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time gap and interval strategy. A radar, a vehicle-mounted sensor and V2V (Vehicle-to-Vehicle) communication are used for determining a number of successive CACC (Cooperative Adaptive Cruise Control) vehicles which are in front of a current vehicle and are within a communication range of the current vehicle, and according to the number of the vehicles, different variable time gap strategies are adopted to determine an expected safe vehicle following interval, expected acceleration is then determined, and therefore, vehicle control is realized. The variable time gap of the invention flexibly changes along with the change of the speed of the current vehicle, a speed difference and the accelerationof a front vehicle, safety, vehicle following properties and a road traffic capacity in a driving process can be effectively balanced, in addition, vehicle cooperative driving can be controlled, a road traffic flow is improved, and journey time is shortened. Meanwhile, a vehicle speed change in the driving process is stable, and driving comfort can be improved.

An apparatus and method for controlling a vehicle speed based on information about forward vehicles that travel in the same lane may be acquired using Vehicle to Everything (V2X) communications in a cooperative adaptive cruise control (CACC) system. The CACC system includes a communication unit receiving vehicle information from neighboring vehicles using V2V communications; an information collection unit collecting vehicle information of the neighboring vehicles and the subject vehicle using sensors; and a control unit determining a forward vehicle and a far-forward vehicle using the sensors,selecting first and second target vehicles for being followed by the subject vehicle based on the vehicle information of the forward vehicle and the far-forward vehicle and the vehicle information ofthe neighboring vehicles, and controlling the driving speed of the subject vehicle based on speed information of the first and second target vehicles.

A cooperative adaptive cruise control (CACC) system acquires a driving pattern of a target vehicle and variably provides an inter-vehicle distance and a responsible speed level of a subject vehicle that are followed by the CACC system based on the driving pattern. The CACC system includes a communication unit receiving vehicle information and road information of a region in which the subject vehicle travels; an information collection unit collecting driving information of a forward vehicle, vehicle information of the subject vehicle, and the road information; and a control unit controlling theinter-vehicle distance and the responsible speed level of the CACC system based on the driving pattern of the target vehicle according to generated control information.

A vehicle may include a conductive housing surrounding an antenna and defining an aperture having a size at least equal to a wavelength of signals radiated by the antenna. A controller may be configured to orient the conductive housing to direct the aperture at a direction of travel to guide electromagnetic radiation from the antenna. The controller may orient the conductive housing in response to receiving a cooperative adaptive cruise control signal from an established platoon of vehicles.

The present disclosure provides an apparatus and method for controlling a cooperative adaptive cruise control (CACC) system capable of reducing a width of deceleration and acceleration to improve fuel efficiency by collecting information on preceding vehicles which are being driven on the same lane and using the collected information to control speed of a vehicle, in the CACC system on the basis of vehicle to everything (V2X) communication and radar.

The invention relates to a cooperative adaptive cruise control method with a lane changing auxiliary function. The cooperative adaptive cruise control method mainly comprises the following steps that 1, a pilot vehicle builds a lane changing track function with an obstacle avoidance capacity according to the states of the vehicle before and after lane changing and critical collision conditions; 2, the pilot vehicle calculates the optimal lane changing track of the vehicle under the critical collision condition according to the speeds of the vehicle and the preceding vehicle, the geometric parameters of the vehicle body, the road parameters and the like; and 3, a motorcade tracks the optimal track according to the method provided by the invention. The method mainly has the following three innovation points that (1) an optimal lane changing track calculation method with a collision avoidance function is given by combining a polynomial method and an optimization method; (2) a nonlinear queue model is established for the heterogeneous vehicles of the motorcade, and compared with a previous method, by using the method of the invention, the motorcade is simplified into a linear model and is closer to reality; and (3) the designed method can ensure the stability of transverse and longitudinal queues during lane changing of the motorcade at the same time.

The invention belongs to the technical field of intelligent driving, particularly relates to a heterogeneous motorcade cooperative self-adaptive cruise control method based on acceleration feedforward, and aims to solve problems that a cooperative self-adaptive cruise control method in the prior art depends on professional experience of developers and is high in design difficulty. The method comprises steps that a controlled vehicle longitudinal dynamic model is established, and the vehicle following strategy is defined; a transfer function of a controlled vehicle and a preceding vehicle is obtained, and the motorcade frequency domain chord stability condition is analyzed; a state space model of the controlled motorcade is established; a time domain chord stability condition of the controlled motorcade is determined; based on the preset vehicle interval time parameter, a feedforward control parameter and a feedback control parameter are obtained to perform vehicle cruise control. The method is advantaged in that a feasible solution of a problem is conveniently solved by using a calculation tool, design difficulty is reduced, the minimum interval time parameter is obtained, so a cooperative adaptive cruise controller with best following performance is obtained, and the traffic capacity of the whole motorcade is improved.

A method for implementing adaptive cruise control for a vehicle includes the steps of stopping the vehicle, determining whether a driver of the vehicle has taken a deliberate action to move the vehicle, and moving the vehicle, on the condition that the driver has taken the deliberation action to move the vehicle.

The disclosure relates to a method and apparatus for congestion reduction through cooperative adaptive cruise control. A system includes a processor configured to determine traffic density over a road segment. The processor is also configured to model traffic parameters to maximize traffic flow over the road segment, based on the traffic density and travel characteristic data received from a plurality of vehicles exiting the road segment. The processor is further configured to determine a speed to density curve, using the model, that would maximize traffic flow and send the speed to density curve to a vehicle entering the road segment.

The invention provides a vehicle-road cooperative adaptive cruise control method, which is used for a main vehicle for monitoring a remote vehicle in real time through a C-V2X technology in a road driving process; the method comprises the following steps: a main vehicle periodically receives V2I information sent by a preset road side unit around a driving road and V2V information sent by the remote vehicle, according to the received V2I information and V2V information, the collision risk between the main vehicle and the remote vehicle is detected; if no collision risk exists between the main vehicle and the remote vehicle, and after a main vehicle driver is determined to be in standard driving according to the driving concentration condition of the main vehicle driver, a main vehicle self-adaptive cruise system is started. According to the invention, real-time monitoring of the target vehicle is carried out on any road based on the C-V2X technology so as to reduce the collision risk, and the driving safety and the riding comfort can be improved.

The invention discloses a pigeon-flock-imitating intelligent vehicle formation cooperative adaptive cruise control switching method. The method comprises the steps that firstly, each individual vehicle calculates a road congestion degree according to the number of obstacle vehicles within a perceptible range of the individual vehicle, and if the congestion degree delta i calculated by all the individual vehicles is larger than a congestion degree threshold value delta max, a motorcade enters a hierarchical control mode modeh; otherwise, the motorcade enters an equal interaction mode modee; then, in a current state, each individual vehicle i in the motorcade marks a neighbor vehicle j within a distance with relatively low communication delay so as to obtain a neighbor vehicle set, then control input is performed, the control input includes a formation control gain, a target point control gain and a following control gain, and the formation control gain, the target point control gain andthe following control gain are all added into a potential field function so as to maintain a function value within a reasonable range; and finally, safety is judged, each individual vehicle judges whether a direction of a control input vector is within the range of the obstacle angle theta avoi or not by calculating obstacle angles occupied by all obstacle vehicles within the perceptible range, and safety of a driving behavior is predicted.

The invention discloses a mixed traffic flow automobile cooperative adaptive cruise control method based on automobile-automobile communication, and relates to the field of intelligent network connection automobile adaptive cruise. The method comprises the following steps: acquiring a BSM information set of a first vehicle (a manual driving vehicle), a front vehicle (an automatic driving vehicle) and a local vehicle (the automatic driving vehicle) in a vehicle following process in real time, and establishing a following motion model of two adjacent vehicles based on the BSM information set; establishing a front vehicle driving operation utility function under a first vehicle disturbance condition by utilizing a linear optimal quadratic theory, and predicting a front vehicle acceleration value at the next moment; and substituting the acceleration value of the vehicle before the next moment into the following motion model to obtain a predicted value of the acceleration of the vehicle, comparing the predicted value with an expected value to obtain an optimal control sequence of the vehicle, and performing adaptive cruise rolling control on the vehicle formation according to the optimal control sequence of the vehicle. According to the method, the controlled vehicle can respond to the change condition of the front vehicle more quickly, and the following performance and safety of the vehicle self-adaptive cruise control system are improved.

The invention provides a cooperative adaptive cruise control-based bus driving control method and system. The method comprises the following steps of: judging whether a bus is in a cooperative adaptive cruise control fleet or not; if the bus is in the vehicle fleet, determining a driving mode according to the position of the bus in the vehicle fleet; if the bus is not in the motorcade, the time interval between the bus and the adjacent bus in front of the bus is judged, and if the time interval is larger than a preset value, the bus cruises in a self-adaptive cruise control mode; when the time interval is smaller than a preset value, the bus is switched to a cooperative self-adaptive cruise control mode; on the basis of judging whether the bus is in the CACC fleet or not, the cruise mode of the bus is determined, traditional bus control is combined with CACC, the service performance of a single bus route can be improved, and the system service performance of buses on multiple routes on the same road section can be coordinated and optimized.

An apparatus and method for controlling a vehicle speed based on information about forward vehicles that travel in the same lane may be acquired using Vehicle to Everything (V2X) communications in a cooperative adaptive cruise control (CACC) system. The CACC system includes a communication unit receiving vehicle information from neighboring vehicles using V2V communications; an information collection unit collecting vehicle information of the neighboring vehicles and the subject vehicle using sensors; and a control unit determining a forward vehicle and a far-forward vehicle using the sensors, selecting first and second target vehicles for being followed by the subject vehicle based on the vehicle information of the forward vehicle and the far-forward vehicle and the vehicle information of the neighboring vehicles, and controlling the driving speed of the subject vehicle based on speed information of the first and second target vehicles.

The invention discloses a micro-simulation method for a cooperative adaptive cruise control (CACC) vehicle, which comprises the following steps of: constructing a cooperative adaptive cruise control (CACC) micro-model to finish micro-simulation of the CACC vehicle; the construction method of the CACC microscopic model comprises the following steps: step 1, determining combinational logic of a CACC motorcade; step 2, determining dissipation logic of the CACC fleet; step 3, determining lane changing behavior control of the CACC vehicle; and 4, determining the speed and acceleration control of the CACC vehicle. A complete method is provided for microscopic simulation of the cooperative adaptive cruise control vehicle, application of the method in the future traffic field is considered, and a basis is provided for related research of the cooperative adaptive cruise control vehicle.

The invention discloses a cooperative self-adaptive cruise control fault-tolerant design system based on expected function safety, and aims at cooperative self-adaptive cruise control of an intelligent network connection automobile technology to carry out fault-tolerant design based on the expected function safety. The system includes two parts of: hazard analysis and evaluation based on expected function safety, function improvement and test evaluation and performance defect fault-tolerant control based on the expected function safety. wherein the performance defect fault-tolerant control based on expected function safety comprises an information acquisition layer, an upper-layer controller fusing performance defect tolerance, decision logic, a CACC fault-tolerant lower-layer controller and a car following execution layer. The invention aims to provide a cooperative self-adaptive cruise control fault-tolerant design architecture based on expected function safety, which is used for solving the problem of vehicle damage caused by insufficient design and functional defects of the existing cooperative self-adaptive cruise control function, and ensuring the driving safety in a cooperative self-adaptive cruise control function mode.

The invention discloses a fault-tolerant control method and device for collaborative adaptive cruise control expected function safety, and the method comprises the steps: building an augmented state space model including radar sensor and control execution system performance defects which takes a radar sensor and a vehicle-mounted inertial measurement unit as feedback input, V2X collaborative information as feed-forward input, and takes a relative distance error, a relative speed and a self-vehicle acceleration as output ; constructing a transfer parameter estimator, an augmented state estimator and a control execution performance defect estimator on the basis of the model, and estimating the augmented state and the performance defect of the cooperative adaptive cruise control system in real time; and comprehensively calculating an online active fault-tolerant control rate, inputting the online active fault-tolerant control rate into a vehicle chassis control system, and generating an accelerator pedal opening degree and a brake pedal opening degree. The situation cognition and scene adaptability of the cooperative adaptive cruise control function can be enhanced, so that the cooperative adaptive cruise control function can still operate safely and stably under the condition of multiple performance defects, and the expected function safety of the function is guaranteed.

The embodiment of the invention provides a vehicle cooperation adaptive cruise control method, vehicles form a motorcade through a wireless network, and the method comprises the following steps: acquiring dynamics information of a first vehicle in the motorcade and dynamics information of a vehicle before the first vehicle; determining vehicle following reference information of the vehicle under various preset vehicle following strategies according to the dynamic information of the first vehicle in the vehicle team, the dynamic information of the previous vehicle of the vehicle and the dynamic transfer function of each vehicle and the first vehicle, the car-following reference information comprises driving control parameters and a relation curve of the car under various communication time delays in each car-following strategy, and the relation curve comprises corresponding minimum driving distances required for meeting driving stability under various communication time delays; and selecting an optimal vehicle following strategy according to the communication time delay of the vehicle and the vehicle following reference information, and calculating control output for driving control according to the corresponding driving control parameters.

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time interval strategy. Use radar, on-board sensors and V2V communication to determine the number of CACC vehicles that are continuous in front of the current vehicle and within its communication range, and use different variable time-distance strategies to determine the expected safe following distance according to the number of vehicles, and then determine the expected acceleration, so as to realize the vehicle control. The variable time distance of the present invention changes flexibly with the speed of the vehicle, the speed difference, and the acceleration of the vehicle in front, and can effectively balance the safety, car-following performance and road traffic capacity during driving, and can control the vehicle coordination Driving, improve road traffic flow, shorten travel time, and at the same time, the speed of the vehicle changes more smoothly during driving, which can improve driving comfort.

The disclosure relates to directing electromagnetic waves in vehicle communications. A vehicle may comprise a conductive housing surrounding an antenna and defining an aperture at least equal to the wavelength of signals radiated by the antenna. A controller may be configured to orient the conductive housing to direct the aperture at a direction of travel to guide electromagnetic radiation from the antenna. The controller may orient the conductive housing in response to receiving a cooperative adaptive cruise control signal from an established platoon of vehicles.

The invention discloses a cooperative adaptive cruise control robust fault tolerance method and device. The method comprises the following steps that a vehicle system mathematical model with nonlinear system parameter perturbation, multi-source unknown external interference, radar performance defects and execution control performance defects is constructed; a CACC-SOTIF robust non-fragile dynamic output feedback H-infinity active fault-tolerant controller is designed, and an augmented closed-loop system with an interference estimation error, a radar performance defect estimation error, an execution control performance defect estimation error and unknown interference is constructed; and the gain of the CACC-SOTIF robust non-fragile dynamic output feedback H-infinity active fault-tolerant controller is solved, so an augmented closed-loop system with interference estimation errors, radar performance defect estimation errors, execution control performance defect estimation errors and unknown interference is asymptotically stable, and H-infinity performance is achieved. The method can cope with problems of vehicle system parameter time-varying perturbation, controller parameter perturbation and multi-source external interference while guaranteeing safety of the expected function of cooperative adaptive cruise control.

The present disclosure relates to methods and apparatus for reducing congestion through cooperative adaptive cruise control. A system includes a processor configured to determine traffic density on a road segment. The processor is further configured to model traffic parameters to maximize traffic flow on the road segment based on traffic density and driving characteristic data received from a plurality of vehicles leaving the road segment. The processor is further configured to: use the model to determine a speed versus density curve, and send the speed versus density curve to vehicles entering the road segment, wherein the curve will cause traffic flow maximize.

The invention discloses an automobile cooperative type self-adaptive cruise control system with the learning ability. The automobile cooperative type self-adaptive cruise control system comprises a training set and testing set generating module, a training set supplementing module, a training module, a learning algorithm module, an automobile travelling state set module, an automobile control motion set module, an inter-automobile safe distance module, an evaluating module, a feedback value R calculating module, a Q weight updating module, an automobile control motion selecting module and an automobile control motion executing module. The automobile cooperative type self-adaptive cruise control system and method with the learning ability are built and can be used for the one-lane or one-way automobile travelling environment. According to the automobile cooperative type self-adaptive cruise control system and method with the learning ability, each automobile is an intelligent agent, travelling conditions of other automobiles in the travelling environment are sensed through communication, and certainly the sensed environment is a part of the automobile travelling environment due to limitations of communication ranges, data volume, communication channels and the like.

The invention discloses a fault-tolerant method and device for collaborative adaptive cruise control expected function safety. According to cooperative self-adaptive cruise control output data, control input instruction data with controller parameter nonlinear time-varying perturbation and vehicle-vehicle and vehicle-road cooperative data, radar performance defects, execution control performance defects and matching parts in multi-source unknown external interference in the system are estimated online; according to estimation information and system output information, radar performance defects, execution control performance defects and matching parts in multi-source unknown external interference in the tolerable cooperative adaptive cruise control system are calculated and generated, mismatching parts in the multi-source unknown external interference are suppressed through an H infinity method, and a control input instruction is generated; and the control input instruction is executed, can accelerator pedal opening signal and a brake pedal opening signal are calculated on line, the vehicles in the queue are controlled to track the front vehicle, and system output information of the vehicle end is updated. The method is suitable for reducing unreasonable risks caused by performance defects of the cooperative adaptive cruise function and is used for guaranteeing expected function safety of the function.

The invention discloses a vehicle queue cooperative driving method and a related device. The vehicle queue cooperative driving method comprises the steps of: acquiring a driving condition of each vehicle in a vehicle queue, and enabling each vehicle to be in a cooperative adaptive cruise control CACC mode; inputting the driving condition of each vehicle into a vehicle queue cooperative driving model for processing, and acquiring a driving instruction of each vehicle, wherein the vehicle queue cooperative driving model is used for predicting driving instructions of the vehicles at the next moment based on the driving conditions of the vehicles at the previous moment; and sending the corresponding driving instruction to each vehicle. By adopting the vehicle queue cooperative driving method,the vehicle queue cooperative driving in a real road scene can be more accurately and flexibly controlled through using the vehicle queue cooperative driving model.