Control method and device for following running of automatic driving vehicle

Abstract

The invention provides a control method and device for following running of an automatic driving vehicle. The control method comprises the steps that the instantaneous speed of a front vehicle, the instantaneous speed of a vehicle and the actual relative distance between the vehicle and the front vehicle are obtained; the instantaneous acceleration of the front vehicle is obtained, and the drivingstate of the front vehicle is judged according to the instantaneous acceleration of the front vehicle; the expected relative distance between the vehicle and the front vehicle is calculated accordingto the driving state of the front vehicle and the instantaneous speed of the front vehicle; the expected acceleration of the vehicle is calculated according to the parameters; and the vehicle is controlled to travel at the expected acceleration of the vehicle. According to the invention, the acceleration of the front vehicle is judged; according to the method, the driving state of the front vehicle is determined, different parameter values are set for the same parameter according to different driving states of the front vehicle to calculate the expected acceleration of the vehicle, the vehicle is controlled to run according to the expected acceleration of the vehicle, and the problems of vehicle following safety and poor passenger experience under the conditions of overtaking or emergencybraking and the like in the prior art are solved.

Description

technical field [0001] The invention relates to the technical field of automobile control, in particular to a control method and device for an automatic driving vehicle to follow the vehicle. Background technique [0002] Car-following is the basic function of autonomous driving, and the motion control of autonomous vehicles should consider the driving habits of the driver and the comfort of passengers as much as possible while satisfying driving safety; the automatic driving provided by the existing technology The car-following control scheme is based on the relative speed or relative distance between the vehicle in front and the vehicle to determine the acceleration and deceleration, ignoring the driving state information provided by the acceleration of the vehicle in front, which does not meet the requirements of car-following in the case of overtaking or emergency braking. Safety, and no consideration for passenger comfort. Contents of the invention [0003] In order ...

AI Technical Summary

Problems solved by technology

[0002] Car-following is the basic function of autonomous driving, and the motion control of autonomous vehicles should consider the driving habits of the driver and the comfort of passengers as much as possible while satisfying driving safety; the automatic driving provided by the existing technology The car-following control scheme is based on the relative speed or relative distance between the vehicle in front and the vehicle to determine the acceleration and deceleration, ignoring the driving state information provided by the acceleration of the vehicle in front, which does not meet the requirements of car-following in the case of overtaking or emergency braking. safety, and without regard to passenger comfort

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