Vehicle control method, device and equipment and storage medium

A vehicle control and vehicle technology, applied in the fields of equipment and storage media, devices, and vehicle control methods, can solve the problems of low longitudinal control accuracy, poor longitudinal tracking adaptive ability of vehicles, etc.

Active Publication Date: 2021-09-28
中汽创智科技有限公司
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is that in the prior art, the ve

Method used

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  • Vehicle control method, device and equipment and storage medium
  • Vehicle control method, device and equipment and storage medium
  • Vehicle control method, device and equipment and storage medium

Examples

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Embodiment

[0051] figure 1 It is a flowchart of a vehicle control method provided according to an embodiment of the present application. refer to figure 1 As shown, the method may include:

[0052] S100. Acquire a first acceleration deviation threshold, a plurality of acceleration prediction information at a plurality of historical moments in a first sampling period of the vehicle, and a plurality of actual acceleration information respectively corresponding to the plurality of acceleration prediction information.

[0053] Specifically, the vehicle control method can be used in an automatic driving scenario. The first acceleration deviation threshold is a threshold of acceleration deviation, and the first acceleration deviation threshold may be preset, and may be determined based on analysis of a large amount of experimental data. Wherein, the acceleration deviation may refer to the difference between the predicted acceleration value and the actual acceleration of the vehicle at the s...

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Abstract

The invention relates to the technical field of vehicle automatic driving, in particular to a vehicle control method and device, equipment and a storage medium. The method comprises the following steps of: updating acceleration compensation information when acceleration deviation statistical information between acceleration prediction information and actual acceleration information in a currently given first sampling duration is greater than a first acceleration deviation threshold value; and when acceleration deviation statistical information between the acceleration prediction information and the actual acceleration information within the second sampling duration is larger than a second acceleration deviation threshold value, determining the target acceleration compensation information, and controlling the vehicle to drive in combination with the current acceleration prediction information. According to the method, the acceleration prediction information can be compensated, the self-adaptive adjustment capability of vehicle longitudinal control is improved, and the vehicle longitudinal control precision is improved.

Description

technical field [0001] The present invention relates to the technical field of computer processing, in particular to a vehicle control method, device, equipment and storage medium. Background technique [0002] The existing automatic driving system is divided into four parts: high-precision positioning, intelligent perception, decision-making planning and tracking control. The tracking control module receives the trajectory information of the decision-making planning module, and combines the vehicle's own pose information input by the precise positioning module to output the vehicle's horizontal and vertical control commands to control the vehicle to accurately track the planned trajectory. At present, tracking control mostly adopts decoupling method, that is, horizontal control and vertical control are independent control modules. [0003] The existing vehicle longitudinal control is commonly used (Proportion Integral Differential, PID algorithm). Since the control paramet...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W30/14B60W40/107
CPCB60W60/001B60W30/14B60W40/107B60W2520/105
Inventor 李丰军周剑光吕文平黄润李奇达
Owner 中汽创智科技有限公司
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