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Vehicle driving control method and system and vehicle

A driving control and braking system technology, applied in the field of systems, vehicles, and vehicle driving control methods, can solve problems such as inability to accurately control vehicle parking

Active Publication Date: 2019-11-19
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Embodiments of the present invention provide a method, system and vehicle for suppressing ultrasonic self-interference to solve the problem in the prior art that the vehicle cannot be accurately controlled to stop at a designated location

Method used

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  • Vehicle driving control method and system and vehicle
  • Vehicle driving control method and system and vehicle
  • Vehicle driving control method and system and vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] like figure 1 As shown, the embodiment of the present invention provides a vehicle driving control method, the method may include the following steps:

[0058] 101. After obtaining the brake control request, obtain the remaining parking distance and vehicle speed of the vehicle.

[0059] Wherein, the remaining parking distance of the vehicle is the distance between the location of the vehicle and the target parking location. Optionally, the remaining parking distance of the vehicle may be the planned driving path distance between the vehicle's location and the target parking location.

[0060] Optionally, in the embodiment of the present invention, the target parking position may be a certain preset parking position, and the above target parking position may also be a target determined according to the position of the obstacle when the vehicle detects an obstacle. parking location.

[0061] Optionally, the above-mentioned remaining parking distance can be calculated ...

Embodiment 2

[0088] An optional implementation mode considers the whole process of vehicle braking and parking as a continuous variable deceleration process. The above-mentioned parking distance model in the embodiment of the present invention can be Formula 1:

[0089] like figure 2 As shown, the driving control method of the vehicle provided in the embodiment of the present invention includes the following steps:

[0090] 201. The whole process of the vehicle braking and stopping after the vehicle responds to the braking control request is regarded as a continuous variable deceleration process, so as to obtain the speed v of the vehicle at time t t .

[0091] The above 201 can be specifically realized through the following 201a and 201b:

[0092] 201a. Establish an acceleration expression at time t.

[0093] First, assuming that the current acceleration slope is r, the acceleration expression at time t can be established, that is, the following formula 3 is: a t =a 0 +∫r dt=a ...

Embodiment 3

[0120] An optional implementation method considers the movement of the vehicle in each control cycle during braking and parking as a uniform deceleration process. The above parking distance model is Formula 2:

[0121] like image 3 As shown, the driving control method of the vehicle provided in the embodiment of the present invention includes the following steps:

[0122] 301. Equivalent the motion of the vehicle in each control cycle after the vehicle responds to the braking control request as a uniform deceleration process, so as to obtain the vehicle speed v at time t after the vehicle responds to the braking control request t .

[0123] Optionally, in this embodiment of the present invention, the foregoing 301 may be implemented through the following 301a, 301b, and 301c.

[0124] 301a. Establish formula five.

[0125] The above formula five is: a n =(n+1)rT. where n is an integer greater than 0, and t represents the time for the vehicle to respond to the brake...

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Abstract

The embodiment of the invention discloses a vehicle driving control method and system and a vehicle and is applied in the technical field of the vehicles. By means of the vehicle driving control method and system and the vehicle, the problem that the vehicle cannot be precisely controlled to park in a designated position can be solved. The method comprises the steps that after the brake control request is obtained, a remaining parking distance and the vehicle speed of the vehicle are obtained, and the remaining parking distance is the distance between a position where the vehicle is at and a target parking position; an acceleration slope value of the vehicle is calculated according to the remaining parking distance, the vehicle speed and a preset parking distance model; and the acceleration slope value is utilized to control driving of the vehicle, wherein the parking distance model is a mathematical model obtained by integrating the vehicle speed of the vehicle taking time as a variable.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of vehicles, and in particular, to a vehicle driving control method, system and vehicle. Background technique [0002] In automatic driving technology, usually in order to avoid collision with obstacles, it is necessary to control the vehicle to stop at a designated parking position. At present, the vehicle is usually controlled to stop through the calibrated speed value and acceleration slope. In practical applications, since the vehicle can only be controlled to stop according to the pre-calibrated speed value and acceleration slope during the braking process, and there may be errors between the actual speed value and acceleration slope of the vehicle and the calibrated value, the vehicle stops when braking. There may be early parking, or delayed parking, so that the vehicle cannot be accurately controlled to stop at the designated location. Contents of the invention [0003] Embo...

Claims

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Application Information

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IPC IPC(8): B60W40/107B60W50/00B60W30/06
CPCB60W30/06B60W40/107B60W50/00B60W2050/0034B60W2510/18B60W2520/10B60W2720/106
Inventor 陈集辉孙崇尚李弼超张超昱
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD