Control method and device for vehicle on curve
A control method and control device technology, applied in the direction of control devices, can solve the problems of overall control strategy change, insufficient tracking, and reduced control accuracy, so as to improve ride experience, improve robustness and safety, and reduce development difficulty. Effect
Active Publication Date: 2022-06-21
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 more clearly understand the above objects, features and advantages of the present application, the solution of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other in the case of no conflict.
[0050] Many specific details are set forth in the following description to facilitate a full understanding of the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present application, and Not all examples.
[0051] Embodiments of the present application provide a method and device for controlling the driving of a vehicle 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 dri...
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The present application provides a method and device for controlling a vehicle traveling on a curved road. The aforementioned method includes: calculating the first acceleration formed by controlling the vehicle actuator by using the first control amount when the vehicle is traveling on a curved road; judging whether the first acceleration is at the predetermined Set the acceleration interval; the preset acceleration interval is the acceleration interval that makes passengers in a comfortable state; if not, calculate the corrected control amount according to the curve path, the current kinematic state of the vehicle and the preset acceleration interval; use the corrected control amount As the actual control quantity of the vehicle actuator. This layered control idea reduces the difficulty of developing the correlation processing algorithm in the first control unit, so that it can be designed to meet the position path tracking accuracy requirements of straight road conditions as much as possible, and at the same time, it can take into account the vehicle driving on the curved path When meeting the requirements for ride comfort, it improves the robustness and safety of the entire system control, and also improves the user's ride experience.
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 driving a vehicle on a curve. Background technique [0002] When the vehicle is in a certain level of autonomous driving, the driving path for autonomous 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 status to control the vehicle's actuator. 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 passengers in the car, and ev...
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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