A longitudinal control method for unmanned vehicles based on motion pattern judgment

Abstract

The invention discloses an unmanned vehicle longitudinal control method based on motion mode judgment. It is applied to an unmanned vehicle equipped with an automatic pilot, a GPS / INS positioning system and an industrial computer. It is characterized in that it first controls the unmanned vehicle. Analyze the relative relationship between the actual speed of the driving vehicle and the expected speed to determine the state value of the unmanned vehicle's motion mode; on the basis of confirming the motion mode of the unmanned vehicle, execute the control algorithm corresponding to the motion mode to control the vehicle speed to achieve unmanned driving Longitudinal control of the driving vehicle. The invention can make the control of the longitudinal speed of the unmanned vehicle smoother and more comfortable while ensuring the tracking accuracy, and the control process is more in line with human driving habits.

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...

AI Technical Summary

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 longitudinal control methods under working conditions or use a single control method to control the longitudinal driving behavior of unmanned vehicles under all working conditions; 3. The influence of slope on vehicle speed control is not considered

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