我最近在收集一些测试ACC（自适应巡航）和FSRA（全速度范围自适应巡航）的测试结果，因为实际车上使用有变迁，所以先需要拿2～3家的产品历史变迁和解决方案来探究一下，以便于讨论，因为有BMW的University关于产品的说明比较全，所以从这里开始。
这里根据不同的车型平台换代时间，根据其发布给经销商的介绍资料可以发现，自适应巡航功能（ACC）它大概有过这么几个阶段：
2002 第一代ACC 1st Gen Active Cruise Control (ACC)
2006 第二代ACC 2nd Gen Active Cruise Control ACC
2007 外购的 (DCC) Dynamic cruise control (cruise control with brake intervention)
2008 第三代ACC Integrated Chassis Management DCC ACC Stop and Go
2012 第四代ACC Active Cruise Control with Stop & Go function (Camera and Radar Sensors)
2013 低成本的基于视觉的ACC Active Cruise Control with Stop & Go Function (Camera Sensors Only)
就关键的一些指标，根据里面摘了出来，等后面我们解析
运行参数（速度范围、速度范围内的加速和减速范围）
静止物体响应
ISO 15622:2002&2010 Transport information and control systems Adaptive Cruise Control Systems Performance requirements and test procedures
ISO 22178:2009 Intelligent transport systems Low speed following (LSF) systems Performance requirements and test procedures
ISO 22179:2009 Intelligent transport system, Full speed range adaptive cruise control system, performance requirements and test
第一代系统
单雷达（76～77GHz）系统，雷达和ACC模块是做一起的，通过PT CAN与系统连接。
如减速较小，采用发动机制动来实现 When possible, ACC will decelerate the vehicle by of means of torque or throttle intervention in the DME. If engine drag torque or engine speed reduction is not sufficient for deceleration the ACC control unit requests the DSC hydraulic unit to build up brake pressure for adjustment of the deceleration.
如用了DSC，根据情况核算要不要电刹车灯 If deceleration is triggered by the ACC, the brake lights are activated by the DSC dependent on a specific pressure or deceleration rate.
第二代系统
这里单独拎出来一个LDM：
The LDM is a control module that is used for drivetrain and brake coordination purposes ,plus provides significant improvement with regard to automatic cruise control (ACC or DCC) with a general control function capability ranging from requesting acceleration to requesting braking (integrated function).
这里算法方面做得更复杂，也有冗余的功能，从前代前方的放到了后方，整个安装位置也好了不少。
单个77G雷达固有情况就是如此，这是忽略静止物体的原因：
The radar waves received cannot distinguish between animals, vehicles and traffic signs.
Traffic signs and parked vehicles standing next to the vehicle's lane could incorrectly be assigned to the lane.
In order to prevent incorrect reactions, stationary objects and traffic in the other direction is ignored in the distance control.
外购系统，这是博世的，这个有些奇怪，单独列出来。
第三代系统
从单雷达系统改进成为一长距+2短距雷达，这里BMW也将上面的LDM（纵向）改为了 Integrated Chassis Management，这个控制器实现了系统功能物理存在上的整合。
第四代系统、低成本系统我明日整理，这里引入了视觉系统，也是ADAS系统独立分离的开始。
小结：大概理了一下整个脉络，再根据测试结果来对比以上的假定。
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