Acceleration processing method and device of vehicle, vehicle and storage medium

A vehicle and acceleration technology, applied in the direction of control devices, etc., can solve problems such as sudden changes, affecting the comfort of the vehicle, and coarse particle size

CN113183974AActive Publication Date: 2021-07-30前海七剑科技(深圳)有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-07-30

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Abstract

The invention relates to a vehicle acceleration processing method and device, a vehicle and a storage medium. The method comprises the steps of obtaining a theoretical acceleration and a current actual speed in a current time period; determining a target acceleration change rate from a preset first mapping relation according to the theoretical acceleration of the current time period and the current actual speed; based on the target acceleration change rate and the theoretical acceleration of the current time period, processing the actual acceleration of the previous time period; and obtaining the actual acceleration of the current time period. That is to say, according to the acceleration processing method of the vehicle, the actual acceleration value with slow acceleration change can be obtained through the calculation process according to the obtained large theoretical acceleration value in the current time period, so that the granularity of the acceleration change is finer; in other words, an acceleration value with large change is converted into an acceleration value with smooth transition, so that the problem of poor comfort of the vehicle in the running process caused by sudden acceleration change is avoided, and the comfort of the whole vehicle is improved.
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Description

technical field

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle acceleration processing method, device, vehicle and storage medium. Background technique

[0002] With the rapid development of the Internet of Things and artificial intelligence, and the gradual penetration into the automotive industry, the automatic driving technology of vehicles has gradually matured and gradually introduced to the market. In the application of automatic driving technology, it mainly includes three core technologies of environmental perception, path planning and motion control. Among them, motion control is the last link, and its main purpose is to realize path tracking. The longitudinal tracking is mainly based on the trajectory of path planning. The closed-loop control of the points and the pose of the self-vehicle is performed to obtain the final theoretical acceleration, which will directly affect the comfort, stability and tr...

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Embodiment Construction

[0043] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0044] The vehicle acceleration processing method provided in this application can be applied to any vehicle, wherein the vehicle can be any artificial device used for human transportation or transportation, including but not limited to automobiles, motorcycles, bicycles, Trains, ships, and aircrafts, etc.; the vehicle may be a vehicle with an automatic driving function, or a vehicle manually operated by a driver, and the vehicle manually operated by a driver may also include an automatic driving function. Taking a vehicle as an example, the vehicle can be a single oil roa...