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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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 |
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