Pure electric bus self-adaptive cruise longitudinal control method and device and electronic equipment

Abstract

The invention belongs to the technical field of pure electric bus control, and provides a pure electric bus self-adaptive cruise longitudinal control method and device and electronic equipment. The control method comprises the following steps: S1, calculating the safe vehicle distance and the emergency braking critical distance; s2, judging whether the vehicle is in a constant-speed cruise mode or a vehicle-following cruise mode; s3, calculating an expected longitudinal acceleration in a constant-speed cruise mode based on PID control or calculating an expected longitudinal acceleration in a vehicle-following cruise mode based on model predictive control; s4, determining the switching driving or braking state of the vehicle; and S5, converting the expected longitudinal acceleration into the corresponding motor driving torque or the corresponding vehicle braking force, and completing control over the vehicle. According to the control method, parameter calibration does not need to be conducted on the gain coefficient of each vehicle controller, the expected longitudinal acceleration can be output in real time, timeliness is high, and the vehicle speed reaches the set vehicle speed as soon as possible on the premise that comfort is guaranteed.

Description

technical field [0001] The invention relates to the technical field of pure electric bus control, in particular to a method, device and electronic equipment for self-adaptive cruise longitudinal control of a pure electric bus. Background technique [0002] Adaptive cruise control is a car safety assisted driving system. It combines with constant speed cruise control and vehicle forward collision warning to maintain the speed of the vehicle or maintain an appropriate distance from the vehicle in front during the following process, thereby realizing the adaptive cruise function. . At present, the environment perception system of adaptive cruise can accurately perceive the relative position relationship between surrounding objects and the vehicle in front and the main vehicle through various types of sensors such as millimeter wave radar, lidar, and high-definition camera. The adaptive cruise system can control the vehicle to perform speed control or distance control according...

AI Technical Summary

Problems solved by technology

[0003] At present, many researches on adaptive cruise are still aimed at traditional fuel vehicles, but due to the fast response speed of the electric motor in the power system of electric vehicles, its characteristics are very different from those of traditional fuel vehicles Different, therefore, the traditional adaptive cruise control method is not suitable for pure electric bus

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