Acceleration control method and device for unmanned electric vehicle

Abstract

The invention provides an acceleration control method and device for an unmanned electric vehicle. The method includes the steps of receiving an acceleration command sent by an upper path planning module of the unmanned electric vehicle, wherein the command contains target acceleration; calculating base torque required by the electric vehicle according to the target acceleration; according to a difference value between the actual acceleration of the electric vehicle and the target acceleration, calculating proportional integral differential PID torque of the electric vehicle; using the sum ofthe base torque required by the electric vehicle and the PID torque as torque required by the electric vehicle, and transmitting the torque required by the electric vehicle to a motor of the electricvehicle. The method and device improve the accuracy of control over the acceleration of the unmanned electric vehicle.

Description

Technical field [0001] The invention relates to the technical field of pure electric vehicles, and in particular to an acceleration control method and device for an unmanned electric vehicle. Background technique [0002] At present, unmanned electric vehicles have big defects in the acceleration control strategy. During the acceleration process, there is a certain difference between the target acceleration and the actual acceleration. The target acceleration value of the vehicle is obtained through path planning. Most of the target acceleration is achieved according to the vehicle The required traction is calculated based on factors such as the mass, road friction, wind resistance, etc., and the required torque is obtained. The acceleration control is realized by the motor output. The acceleration obtained in this way is theoretically correct, but the road friction, wind resistance and other factors are all It is changing, so the resulting acceleration is not ideal. [0003] The ...

AI Technical Summary

Problems solved by technology

[0002] At present, unmanned electric vehicles have great defects in the acceleration control strategy. During the acceleration process, there is a certain difference between the target acceleration and the actual acceleration. The target acceleration value of the vehicle is obtained through path planning. Most of the target acceleration is achieved according to the vehicle Calculate the required traction force based on the quality of the vehicle, road surface friction, wind resistance and other factors, so as to obtain the required torque, and realize the acceleration control by the output of the motor. The acceleration obtained in this way is theoretically correct, but road friction, wind resistance and other factors are not is changing, so the resulting acceleration is not ideal

[0003] The impact of changes in road surface, wind resistance, and road conditions on vehicle acceleration is not fully considered. The deviation between the target acceleration and the actual acceleration affects the vehicle's operating state and vehicle trajectory, and may even bring danger to unmanned vehicles and endanger personal safety.

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