Research On The Follow Mode Of Adaptive Cruise Control Based On The Front-view Camera

Adaptive Cruise Control(ACC)is a vehicle speed regulation system that adapts to traffic conditions.As an important part of Advanced Driver Assistance System(ADAS),it can utilize external environmental sensors to help drivers improve safety and comfort,ease traffic pressure and avoid great significance.Aiming at the characteristics of low false positive rate of camera,this paper studies ACC following mode based on the Mobileye's image detection function,which uses front camera as the environmental sensor.It briefly introduces the overall design of front camera,including image detection chip EyeQ3,MCU and front camera working principle.Meanwhile,it analyzes principle of image detecting distance and relative speed,find out main target from multiple vehicles detected by image detection function and measure distance and relative speed of main target to ensure proper distance with proper braking and acceleration.According to traditional time gap model and frontal collision protection system,this paper establishes a suitable safety distance model and divides the safety distance into four parts by vehicle running and braking model:collision warning distance,remind warning distance,deceleration distance,acceleration distance.Aiming at the linear and non-linear characteristics of vehicle driving,this paper uses a fuzzy PID control algorithm with on-line parameter adjustment to realize following control strategy.This control precision is higher and response is faster.This paper establishes a simple traffic environment model,sensor and communication model in Prescan and vehicle dynamics model and ACC following control model in Simulink.Using Prescan and Simulink co-simulation,ACC following control function is verified based on straight road,curved road,front adjacent lane vehicle cut in,main target cut out four kinds of working conditions in intelligent front camera and these four conditions are verified in actual vehicle.