Vehicle curve driving control method and device
A control method and control device technology, applied in the direction of control devices, etc., can solve problems such as insufficient tracking, changes in overall control strategies, and reduced control accuracy, so as to improve riding experience, reduce development difficulty, and improve robustness and safety. Effect
Active Publication Date: 2021-03-12
BEIJING CO WHEELS TECH CO LTD
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Problems solved by technology
However, this method may change the overall control strategy of automatic driving. When entering a curve with a large curvature radius, it will cause insufficient tracking and reduce the control accuracy.
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[0049] In order to better understand the above purpose, features and advantages of the present application, the solution of the present application will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
[0050] In the following description, a lot of specific details have been set forth in order to fully understand the present application, but the present application can also be implemented in other ways different from those described here; obviously, the embodiments in the description are only a part of the present application, and Not all examples.
[0051] The embodiment of the present application provides a control method and device for a vehicle traveling on a curve. Without modifying the existing first control unit, the first control quantity output by the first control unit is used to control the Kinematics state is calculated t...
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The invention provides a vehicle curve driving control method and device. The method comprises the following steps: calculating a first acceleration formed by employing a first control quantity to control a vehicle execution mechanism when a vehicle drives on a curve path; judging whether the first acceleration is within a preset acceleration interval or not, wherein the preset acceleration interval is an acceleration interval enabling the passenger to be in a riding comfort state; if not, calculating to obtain a correction control quantity according to the curve path, the current kinematic state of the vehicle and a preset acceleration interval; and adopting the correction control quantity as the actual control quantity for controlling the vehicle executing mechanism. According to the layered control thought, the development difficulty of related processing algorithms in the first control unit is reduced, so that the position path tracking precision requirement of a straight road condition can be designed and met as much as possible, meanwhile, the requirement of a vehicle on riding comfort when the vehicle runs on a curve path can also be considered, the robustness and safety ofthe whole system control are improved, and the user riding experience is also improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving control, and in particular to a control method and device for a vehicle traveling on a curve. Background technique [0002] When the vehicle is in a certain level of automatic driving state, the driving path of automatic driving is formulated according to the global road network data and macro-traffic information, and the control strategy of the specified execution layer is determined based on the driving path and vehicle state to control the vehicle's actuators Execute and track the driving path according to the control strategy. When the road is a curved road or the vehicle needs to change the road when driving to an intersection, the pre-planned driving path is a curved driving path, and the vehicle will generate lateral acceleration when driving along the curved driving path. [0003] Excessive lateral acceleration will reduce the ride comfort of the passengers in the car,...
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IPC IPC(8): B60W40/109B60W50/00
CPCB60W40/109B60W50/0098B60W2050/0043B60W2520/125
Inventor 吕传龙郑艺强马俊彦王俊敏关书伟
Owner BEIJING CO WHEELS TECH CO LTD