CN-122009170-A - Predictive cruise control method and system based on dynamic optimization of multi-source road information

CN122009170ACN 122009170 ACN122009170 ACN 122009170ACN-122009170-A

Abstract

The invention belongs to the technical field of vehicle control, and particularly relates to a predictive cruise control method and system based on dynamic optimization of multi-source road information. The method comprises the steps of obtaining multi-source heterogeneous data of a vehicle planning driving road, taking the minimum value of the road speed limit, the turning speed limit and the traffic light signal speed limit of the vehicle planning driving road as a current basic speed limit control value, searching the basic speed limit control value, identifying the driving condition position of acceleration and deceleration, solving the maximum constant driving speed in the driving condition distance of corresponding acceleration and deceleration, and optimizing the basic speed limit control value of the corresponding road section by utilizing the maximum constant driving speed of each road section to obtain the optimized speed of each road section. According to the invention, by fusing dynamic traffic information and static road characteristic parameters and considering the processing of the road short-distance acceleration and deceleration working condition, an optimized vehicle speed planning strategy is realized, so that the driving safety and the energy utilization efficiency are improved.

Inventors

WANG WENWEN
HE YANZE
HE ZILONG
LI XIAOJIAN

Assignees

奇瑞智能汽车科技(合肥)有限公司

Dates

Publication Date: 20260512
Application Date: 20260108

Claims (10)

1. The predictive cruise control method based on the dynamic optimization of the multi-source road information is characterized by comprising the following steps of: The method comprises the steps of obtaining multi-source heterogeneous data of a planned driving road of a vehicle, preprocessing the multi-source heterogeneous data and calculating turning speed limit; taking the minimum value of road speed limit, turning speed limit and traffic light signal speed limit of a vehicle planning running road as a current basic speed limit control value; dividing a vehicle planning driving road into a plurality of road segments according to whether the basic speed limit control value changes or not; searching the basic speed limiting control value, identifying the driving condition position in which acceleration is performed before deceleration, and solving the maximum constant running speed in the driving condition distance corresponding to the acceleration before deceleration; and optimizing the basic speed limit control value of the corresponding road section by utilizing the maximum constant running speed of each road section to obtain the optimized speed of each road section, and generating a final road speed planning curve.
2. The predictive cruise control method based on dynamic optimization of multi-source road information as set forth in claim 1, wherein the multi-source heterogeneous data of the vehicle planned travel road includes static road signal data and dynamic road signal data, wherein: the static road signal data includes road speed limit, turning radius, roundabout turn, high-speed exit location and road grade; the dynamic road signal data includes traffic light signals and red light waiting time.
3. The predictive cruise control method based on dynamic optimization of multi-source road information according to claim 2, wherein the calculation of the turning speed limit comprises the following steps: and taking the minimum value R of all turning radiuses including the road curve and the roundabout curve, and further calculating the physical safety speed upper limit of the vehicle under the minimum value R of the turning radius as the turning speed limit of the current road section.
4. The predictive cruise control method based on dynamic optimization of multi-source road information of claim 2, wherein the preprocessing further comprises: Acceleration and deceleration presetting, namely presetting acceleration and deceleration according to a road gradient signal; and initializing a road section, namely presetting a maximum initialization value of limiting the speed of the whole vehicle planning driving road, and limiting the speed of processing the red light position to 0km/h.
5. The predictive cruise control method based on dynamic optimization of multi-source road information of claim 1, wherein solving the maximum constant driving speed in the corresponding acceleration-then-deceleration driving condition comprises: Extracting the whole distance from acceleration to deceleration of the vehicle to a certain value and two vehicle speed limits before acceleration and after deceleration of the vehicle are completed; presetting a parameter rVehSpdCon _C which represents the duty ratio of the running length at a constant speed within the working condition distance of the vehicle after acceleration; Solving a maximum constant running speed vVehSpdMax within a working condition distance of accelerating and decelerating the vehicle, wherein the formula is as follows: ; Wherein aVehAcceCon _C and aVehDeceCon _C are acceleration and deceleration obtained according to road gradient signals, DSTSPDLIMINCR is working condition distance from initial acceleration to completion of deceleration, VVEHSPDLIM and VVEHSPDLIM are vehicle speed limit before acceleration and vehicle speed limit after deceleration, and sqrt is root.
6. The predictive cruise control method based on dynamic optimization of multi-source road information according to claim 5, wherein the basic speed limit control value of each road segment is optimized by using the maximum constant traveling speed of each road segment to obtain the optimized vehicle speed of each road segment, and the method specifically comprises: and taking the lower value of the basic speed limit control value and the maximum constant running speed in each divided road section as the optimized vehicle speed of each road section.
7. The predictive cruise control method based on dynamic optimization of multi-source road information as set forth in claim 6, wherein if there is no driving condition position of acceleration followed by deceleration in a certain road segment, the optimized vehicle speed of the road segment is the basic speed limit control value of the current road segment.
8. A predictive cruise control system dynamically optimized based on multi-source road information, comprising: the data acquisition and preprocessing module is configured to acquire multi-source heterogeneous data of a planned driving road of the vehicle, preprocess the multi-source heterogeneous data and calculate turning speed limit; The basic speed limit control value calculation module is configured to take the minimum value of the road speed limit, the turning speed limit and the traffic light signal speed limit of the vehicle planning running road as the current basic speed limit control value; the road segment dividing module is configured to divide a vehicle planning running road into a plurality of road segments according to whether the basic speed limit control value changes or not; The maximum constant running speed solving module is configured to search the basic speed limiting control value, identify the driving condition position in which the driving condition is accelerated and then decelerated, and solve the maximum constant running speed within the driving condition distance corresponding to the acceleration and then deceleration; And the optimizing module is configured to utilize the maximum constant running speed of each road section to optimize the basic speed limit control value of the corresponding road section, obtain the optimized speed of each road section and generate a final road speed planning curve.
9. A computer readable storage medium, having stored thereon a program, which when executed by a processor, implements the steps of the predictive cruise control method of any one of claims 1-7, which is dynamically optimized based on multi-source road information.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor implements the steps of the predictive cruise control method of any one of claims 1-7 based on dynamic optimization of multi-source road information when the program is executed.

Description

Predictive cruise control method and system based on dynamic optimization of multi-source road information Technical Field The invention belongs to the technical field of vehicle control, and particularly relates to a predictive cruise control method and system based on dynamic optimization of multi-source road information. Background The conventional cruise control system mainly includes two kinds of constant speed cruising (CC) and adaptive cruising (ACC). The constant-speed cruising system can only maintain the vehicle to run at a preset constant speed and cannot be adjusted according to the change of road conditions, and the self-adaptive cruising system can adjust the speed of the self-adaptive cruising system according to the speed of the front vehicle, but has the following limitations: 1) Only the relative motion information of the front vehicles is considered, and the utilization of the global road condition is lacking. For example, the information such as the curvature of the front curve, the speed limit change of the road and the like cannot be known in advance, so that the vehicle can react when approaching the special road sections, and the driving risk is increased; 2) The reactive control strategy is adopted, namely the speed of the vehicle is adjusted in real time according to the speed change of the front vehicle, and the strategy easily causes frequent acceleration and deceleration of the vehicle. Frequent acceleration and deceleration not only can influence riding comfort, but also can increase fuel consumption or electric energy loss; 3) The change of the road condition in front, such as traffic lights, curves, etc., cannot be predicted. The speed planning of the vehicle cannot be done in advance in the running process, and more intelligent and efficient cruise control is difficult to achieve. Disclosure of Invention In order to overcome the defects of the prior art, the invention provides the predictive cruise control method and the predictive cruise control system based on the dynamic optimization of the multi-source road information, and the optimal vehicle speed planning strategy is realized by fusing the dynamic traffic information and the static road characteristic parameters and considering the processing of the road short-distance acceleration and deceleration working condition, so that the driving safety and the energy utilization efficiency are improved. To achieve the above object, one or more embodiments of the present invention provide the following technical solutions: the first aspect of the invention provides a predictive cruise control method based on dynamic optimization of multi-source road information. The predictive cruise control method based on the dynamic optimization of the multi-source road information comprises the following steps: The method comprises the steps of obtaining multi-source heterogeneous data of a planned driving road of a vehicle, preprocessing the multi-source heterogeneous data and calculating turning speed limit; taking the minimum value of road speed limit, turning speed limit and traffic light signal speed limit of a vehicle planning running road as a current basic speed limit control value; dividing a vehicle planning driving road into a plurality of road segments according to whether the basic speed limit control value changes or not; searching the basic speed limiting control value, identifying the driving condition position in which acceleration is performed before deceleration, and solving the maximum constant running speed in the driving condition distance corresponding to the acceleration before deceleration; and optimizing the basic speed limit control value of the corresponding road section by utilizing the maximum constant running speed of each road section to obtain the optimized speed of each road section, and generating a final road speed planning curve. A second aspect of the invention provides a predictive cruise control system dynamically optimized based on multi-source road information. A predictive cruise control system dynamically optimized based on multi-source road information, comprising: the data acquisition and preprocessing module is configured to acquire multi-source heterogeneous data of a planned driving road of the vehicle, preprocess the multi-source heterogeneous data and calculate turning speed limit; The basic speed limit control value calculation module is configured to take the minimum value of the road speed limit, the turning speed limit and the traffic light signal speed limit of the vehicle planning running road as the current basic speed limit control value; the road segment dividing module is configured to divide a vehicle planning running road into a plurality of road segments according to whether the basic speed limit control value changes or not; The maximum constant running speed solving module is configured to search the basic speed limiting control value, identify the driving condition position