Self-adaptive cruise system based on anti-interference control

The invention discloses a self-adaptive cruise system based on anti-interference control, and the system is characterized in that an environment sensing layer collects the first acceleration of a front vehicle at a preset time interval, and an upper-layer controller predicts the first acceleration o...

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Hauptverfasser: ZHU BIN, ZHENG WEIGUANG, HUH EUN-YOUNG, FENG HAIBO, HE SHUILONG, XU JIAYI, HU CHAOFAN, ZHAN XIN, YUAN XIAMING, TAO LIN, LIN CHANGBO, LI HUI, WANG SHANCHAO, LI CHAO, DENG JUCAI, BAO JIADING, ZHENG YI, CHEN ZHIGANG, ZHU JIHONG, FENG GAOSHAN
Format: Patent
Sprache:chi ; eng
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Zusammenfassung:The invention discloses a self-adaptive cruise system based on anti-interference control, and the system is characterized in that an environment sensing layer collects the first acceleration of a front vehicle at a preset time interval, and an upper-layer controller predicts the first acceleration of the front vehicle in the next preset time interval through a front vehicle acceleration predictor; obtaining a first expected acceleration; a feedforward control module of the lower-layer controller is used for calculating and generating a feedforward control quantity of the vehicle; and calculating and generating a feedback control quantity of the to-be-controlled vehicle through a feedback control module of the lower-layer controller, and finally calculating and generating a second expected acceleration of the to-be-controlled vehicle according to the feedforward control quantity and the feedback control quantity so as to control the acceleration of the to-be-controlled vehicle through a vehicle execution mecha