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A parking control method and device for an automatic driving vehicle

A technology of automatic driving and control methods, which is applied in the direction of control devices, etc., can solve problems such as deceleration changes, parking brakes are not smooth, parking brakes are not smooth, and deceleration changes are large, so as to achieve accurate parking, improve comfort, and improve The effect of parking accuracy

Active Publication Date: 2022-04-08
ZHENGZHOU YUTONG BUS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a parking control method for an automatic driving vehicle, which is used to solve the problem that the existing control method takes speed as the output PID control, and the deceleration changes greatly during parking, resulting in uneven parking brake; at the same time, it also provides a A parking control device for an automatic driving vehicle, which is used to solve the problem that the PID control of the existing control device takes speed as the output, and the deceleration changes greatly during parking, resulting in uneven parking braking.

Method used

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  • A parking control method and device for an automatic driving vehicle
  • A parking control method and device for an automatic driving vehicle
  • A parking control method and device for an automatic driving vehicle

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Embodiment Construction

[0023] Embodiment of the parking control method of the automatic driving vehicle:

[0024] The self-driving vehicle parking control method proposed in this embodiment is based on figure 1 The vehicle entry control system shown includes a detection unit, a control unit and an execution unit. The detection unit includes a positioning system, an inertial navigation system, and a vehicle speed sensor, the control unit includes a controller, and the execution unit includes a braking system (ie, a brake). TCP / IP) carries out data communication, adopts CAN bus line to carry out communication in the present embodiment. Of course, the implementation of the method is not limited to this vehicle entry control system.

[0025] The positioning system is used to measure the current position of the vehicle and the position of the target stop to obtain the actual distance from the station; the inertial navigation system is used to measure the current acceleration / deceleration of the vehicle...

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Abstract

The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars. The control method includes the following steps: obtaining the actual distance from the vehicle to the stop in front, the current deceleration and the current speed of the vehicle, and estimating the braking distance according to the current deceleration and the current speed of the vehicle; value to obtain the parking control error; according to the parking control error, the given deceleration is obtained through PID control; the difference between the given deceleration and the current deceleration is used as the control quantity of the brake control or the given deceleration is used as the control quantity of the brake control. The brakes take control. This method controls the deceleration according to the error between the actual departure distance and the estimated braking distance, and then controls the brake to decelerate, so that the vehicle can stop smoothly.

Description

technical field [0001] The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars. Background technique [0002] In the process of driving the vehicle to stop, the existing drivers mostly step on the brakes intermittently until the vehicle stops, and there are also situations in which they step on the brakes until the vehicle stops. The ideal vehicle braking process should be to apply the braking force gradually and gradually. To ensure high-efficiency parking while avoiding poor human experience caused by large deceleration changes, the existing automatic control technology requires more stringent control of vehicle parking in order to be closer to human judgment when controlling vehicle parking. The automatic control technology generally controls the vehicle speed through PID based on the distance, and finally realizes the automatic control of vehicle parking. However...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06B60W40/02B60W40/10B60W40/105B60W50/00
CPCB60W30/06B60W40/02B60W40/10B60W40/105B60W50/00B60W2050/0011
Inventor 左帅朱敏李钰锐李兴佳蔡礼松张立增
Owner ZHENGZHOU YUTONG BUS CO LTD
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