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Method of longitudinal control of curve driving of autonomous vehicle

A longitudinal control and automatic driving technology, which is applied in the direction of control devices, vehicle components, and external condition input parameters, etc., can solve problems such as low comfort, insufficient consideration of the driving characteristics of a single driver, and discontinuous control of curves. To achieve the effect of increasing acceptance

Active Publication Date: 2017-10-24
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] In view of the above-mentioned analysis, the present invention aims to provide a method for longitudinal control of curve driving of an automatic driving vehicle, to solve the problem that existing methods do not fully consider the driving characteristics of a single driver, the control of curve driving is discontinuous, and the comfort level not high problem

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  • Method of longitudinal control of curve driving of autonomous vehicle
  • Method of longitudinal control of curve driving of autonomous vehicle
  • Method of longitudinal control of curve driving of autonomous vehicle

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Embodiment Construction

[0043] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0044] The curve that vehicle travels in the present invention is according to national road construction relevant regulation, and road alignment is flat curve during curve construction, and flat curve comprises circular curve and transitional curve (Clothoid curve, the curve that curvature changes continuously), a typical The corner construction such as figure 1 As shown, it includes the straight line at the turn-in section, the transition curve at the turn-in section, the circular curve, the transition curve at the turn-off section, and the straight line at the turn-off section. The curve running characteristic of the driver in the present invention ...

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Abstract

The invention relates to a method of longitudinal control of curve driving of an autonomous vehicle. The method includes: judging the stage of the vehicle in the curve according to the vehicle state and driving route information; according to the stage of the vehicle in the curve, performing online real-time control on the driving speed of the vehicle and transferring control results to an acceleration control module; when the vehicle is judged to be in the state of driving inside the curve, calculating the difference value of the current speed and a driver's comfortable speed under the current curvature and transferring the difference value as expected acceleration to a lower acceleration tracking module for real-time control; when the vehicle is judged to be in the state of driving into the curve or out of the curve, outputting the expected acceleration in real time according to a driver model obtained by training and transferring the expected acceleration to the lower acceleration tracking module for real-time control. Driving characteristics of the singular driver are fully considered, the driving characteristics of the driver driving in the curve can be effectively simulated by controlling the demonstrated control characteristics in real time, and driver's acceptance of an automatic driving technique is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a method for longitudinal control of curve running of an automatic driving vehicle. Background technique [0002] After decades of development, the traditional longitudinal control technology of self-driving vehicles has become more and more mature, mainly involving the application of traditional control theory methods, such as PID and its derivative algorithms, MPC, LQR, etc. Only using the maximum curvature of the road ahead to limit the maximum vehicle speed to obtain a safe vehicle speed, the basic control algorithm is still the traditional longitudinal control method. [0003] Traditional control methods all start from the perspective of control theory, ignoring the role of the driver in automatic driving. As the user and supervisor of automatic driving vehicles, the driver cannot be ignored in the development of automatic driving technology. However, the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W30/14
CPCB60W30/025B60W30/14B60W2520/10B60W2520/105B60W2552/30
Inventor 龚建伟朱晓龙吕超吴绍斌王博洋
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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