自适应巡航弯道速度控制算法研究  

Research on adaptive cruise control curve speed control algorithm

作　　者：罗嘉 Luo Jia(Dongfeng Liuzhou Motor Co.,Ltd.,Liuzhou 545000,China)

机构地区：[1]东风柳州汽车有限公司,广西柳州545005

出　　处：《汽车知识》2025年第1期51-54,共4页AUTOMOTIVE KNOWLEDGE

摘　　要：基于单目摄像头的自适应巡航控制系统,智能驾驶系统通过车载摄像头识别弯道的曲率,并结合车辆的方向盘转角、当前车速以及横摆角速度等关键的车辆动力学参数,精确计算出所在道路的曲率半径。同时,通过车载控制器局域网络获取自车的动力学参数,输入智能驾驶车辆轨迹计算模块,得到自车轨迹曲率。最后,通过仲裁模块得到弯道曲率,主动调节弯道速度,保证车辆弯道行驶中更加平稳、安全,为驾驶者和乘客带来更加舒适愉悦的体验。本文研究了自适应巡航弯道速度控制算法。Based on a monocular camera's ACC curve speed control system,the intelligent driving system recognizes the curvature of the curve through the vehicle-mounted camera and combines the vehicle's steering wheel angle,current speed,and yaw rate,and other key vehicle dynamics parameters to accurately calculate the curvature radius of the road.At the same time,it obtains the vehicle's dynamic parameters through the invehicle CAN and inputs them into the intelligent driving vehicle trajectory calculation module to obtain the vehicle's trajectory curvature.Finally,the curve curvature is obtained through the arbitration module,and the curve speed is actively adjusted to ensure that the vehicle is more stable and safe in curves,and brings a more comfortable and pleasant experience to the driver and passengers.In this paper,the adaptive cruise curve speed control algorithm is studied.

关 键 词：单目摄像头 自适应巡航控制系统 弯道速度控制 弯道曲率 

分 类 号：U463.6[机械工程—车辆工程]