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A car-following control method, device and car for an automatic driving car

A technology of automatic driving and control method, which is applied in the control of finding targets, non-electric variable control, two-dimensional position/channel control, etc. Easy modular effects

Active Publication Date: 2022-05-17
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is too dependent on PID parameters and table parameters, and there are large jumps and fluctuations in the planned expected speed and expected acceleration / deceleration, which leads to the unsmooth movement of the vehicle in the underlying control

Method used

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  • A car-following control method, device and car for an automatic driving car
  • A car-following control method, device and car for an automatic driving car
  • A car-following control method, device and car for an automatic driving car

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Embodiment Construction

[0109] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0110] refer to figure 1 , the present invention provides a kind of follow-up control method of self-driving car, comprising:

[0111] Step 101 , when the own vehicle is in a stable car-following condition, it is detected whether the following target of the own vehicle is switched.

[0112] Among them, the stable following condition refers to the working condition in which the actual following distance between the self-vehicle and the precedin...

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Abstract

The invention provides a car following control method and device of an automatic driving car, and the car, so as to achieve the effect of improving the smoothness of movement of the car when the car following target is switched. The method includes: when the vehicle is in a stable vehicle-following working condition, detecting whether the vehicle-following target of the vehicle is switched; The initial following distance and the target following distance between the vehicle and the vehicle in front; if the initial speed of the preceding vehicle is greater than the initial speed of the vehicle, an isosceles trapezoidal acceleration curve is planned, and according to the isosceles trapezoidal acceleration curve The obtained target expected acceleration is used to control the own vehicle; if the initial speed of the preceding vehicle is less than or equal to the initial speed of the own vehicle, an isosceles trapezoidal deceleration curve is planned, and the target expected acceleration obtained according to the isosceles trapezoidal deceleration curve Carry out vehicle control.

Description

technical field [0001] The invention relates to the field of self-driving cars, in particular to a car following control method and device for an self-driving car, and the car. Background technique [0002] In the development process of the vertical function of automatic driving, when the target switching occurs under the condition of stable car following (the relative distance is equal to the actual distance, and the speed of the vehicle is equal to the speed of the vehicle in front), it is necessary to re-plan the vehicle's expected speed and following distance at the vertical planning level , desired acceleration / deceleration, etc. And send the final planned expected speed and expected acceleration / deceleration to the lower control module at the same time. Ideally, when the vehicle smoothly accelerates or decelerates to just the same speed as the vehicle in front, the relative distance just reaches the desired following distance, and thus enters the stable following stat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/12
CPCG05D1/0223G05D1/12
Inventor 陈情周增碧刘秀鹏张欢庆
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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