Automated vehicle longitudinal control method based on movement mode judgment

A motion mode, longitudinal control technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of only emphasizing the control process accuracy and ignoring the comfort index of unmanned vehicles. , do not consider the influence of slope and other issues

Active Publication Date: 2016-04-20
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

However, these studies all have some common limitations: First, they only emphasize the improvement of the control process precision, while ignoring the comfort index that the unmanned vehicle should have as a vehicle itself; Research on longi

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  • Automated vehicle longitudinal control method based on movement mode judgment

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Embodiment Construction

[0069] This embodiment takes the unmanned vehicle refitted from Mitsubishi "Pajero" car as an example, and specifically describes how to use the method of the present invention to realize the control of the longitudinal movement process of the unmanned vehicle, that is, the speed of the vehicle, and its functional effects.

[0070] The unmanned vehicle modified with Mitsubishi "Pajero" used in this embodiment is equipped with a GPS / INS combined positioning system with a product name of SPAN-CPT provided by NovAtel, which can obtain the location of the vehicle. The latitude and longitude signal of the position, the vehicle speed signal, the acceleration signal and the slope signal of the road surface where the vehicle is located (the latitude and longitude are used for lateral control, and the present invention only relates to longitudinal control so the use of the latitude and longitude signal is not described). In order to drive the vehicle's accelerator and brake pedals to th...

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Abstract

The invention discloses an automated vehicle longitudinal control method based on movement mode judgment. The automated vehicle longitudinal control method based on movement mode judgment is applied to an unmanned vehicle provided with an automatic driving instrument, a GPS/INS positioning system and an industrial personal computer. The automated vehicle longitudinal control method based on movement mode judgment is characterized in that the relative relation between the actual speed and the expected speed of the unmanned vehicle is firstly analyzed, and a movement mode state value of the unmanned vehicle is determined; on the basis that a movement mode of the unmanned vehicle is determined, a control algorithm corresponding to the movement mode is executed to control the vehicle speed so that longitudinal control of the unmanned vehicle can be achieved. By means of the automated vehicle longitudinal control method based on movement mode judgment, longitudinal speed control of the unmanned vehicle is smoother and more comfortable while tracking precision can be guaranteed, and the control process more conforms to the driving habit of humans.

Description

technical field [0001] The invention belongs to the field of intelligent vehicles, and mainly relates to longitudinal speed control of unmanned vehicles. Background technique [0002] Unmanned vehicles are one of the development trends of future intelligent vehicles. Research on unmanned vehicles will also promote the development of intelligent transportation and smart cities, which is of great strategic significance. Many institutions at home and abroad have launched research on unmanned vehicles, among which Google's unmanned vehicles have passed a large number of road tests and are ready for commercialization. Domestic unmanned vehicle research progress is also quite rapid, and many patents have been published. [0003] Chinese Patent Application Publication No. CN201510278571.6 proposes a control method for side longitudinal coupling motion of unmanned vehicles. In this method, the input parameters and output parameters of the longitudinal coupling tracking controller...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D2201/0212
Inventor 宋彦蔡宗亮许铁娟梁华为梅涛
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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