Longitudinal control method, device and equipment for autonomous vehicle and medium

A technology of automatic driving and longitudinal control, which is applied to control devices, vehicle components, input parameters of vehicle conditions, etc., can solve problems such as poor comfort, and achieve the effect of avoiding increased damage, improving comfort, and reducing centripetal force.

Pending Publication Date: 2021-11-19
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The solutions in the prior art do not consider combining the output results of the lateral control of the vehicle with feedback for longitudinal control. Therefore, the prior art has the technical problem of poor longitudinal control comfort

Method used

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  • Longitudinal control method, device and equipment for autonomous vehicle and medium
  • Longitudinal control method, device and equipment for autonomous vehicle and medium
  • Longitudinal control method, device and equipment for autonomous vehicle and medium

Examples

Experimental program
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Embodiment 1

[0027] Specifically, this embodiment is applicable to the longitudinal control of the automatic driving vehicle when the target vehicle is an automatic driving vehicle, or the target vehicle is in the automatic driving mode. It is a longitudinal control method for autonomous vehicles. As unmanned driving technology matures, it will be necessary to combine horizontal and vertical control to form a closed-loop method for horizontal and vertical control.

[0028] Figure 1A It is a schematic flow chart of a longitudinal control method for an automatic driving vehicle provided by Embodiment 1 of the present invention. This embodiment is applicable to the automatic driving vehicle in the turning condition, according to the centripetal force currently required by the vehicle and the change value of the centripetal force. In the case of longitudinal control, the method can be executed by a vehicle longitudinal control device, which can be implemented by hardware and / or software, and ...

Embodiment 2

[0055] Figure 2A It is a schematic flow chart of a longitudinal control method for an automatic driving vehicle provided in Embodiment 2 of the present invention. On the basis of the above embodiments in this embodiment, optionally, the method further includes: determining each passenger of the target vehicle The corresponding current second centripetal force and the current second centripetal force change value corresponding to each passenger; obtain the preset maximum second centripetal force corresponding to each passenger of the target vehicle and the preset maximum second centripetal force corresponding to each passenger of the target vehicle The corresponding maximum second centripetal force change value; adjust the longitudinal travel of the target vehicle based on the maximum second centripetal force, the current second centripetal force, the maximum second centripetal force change value, and the current second centripetal force change value speed. The explanations o...

Embodiment 3

[0084] image 3It is a schematic flow chart of a longitudinal control method for an automatic driving vehicle provided in Embodiment 3 of the present invention. On the basis of the above embodiments in this embodiment, optionally, the method further includes: based on the maximum first centripetal force, The current first centripetal force, the maximum first centripetal force change value, the current first centripetal force change value, the maximum second centripetal force, the current second centripetal force, the maximum second centripetal force change value and the The current second centripetal force change value is used to adjust the longitudinal running speed of the target vehicle. The explanations of terms that are the same as or corresponding to the above-mentioned embodiments will not be repeated here. see image 3 , the longitudinal control method of the self-driving vehicle provided in this embodiment includes the following steps:

[0085] S310. When it is dete...

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PUM

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Abstract

The embodiment of the invention discloses a longitudinal control method, device and equipment for an autonomous vehicle and a medium. According to the method, when a target vehicle is in a turning working condition, the output result of the target vehicle in transverse control is determined by determining the current first centripetal force corresponding to the front axle center of the target vehicle and the current first centripetal force change value corresponding to the front axle center, so that the output result in transverse control is fed back to longitudinal control; further, according to the current first centripetal force, a preset maximum first centripetal force corresponding to the center of the front axle, the current first centripetal force change value and a preset maximum first centripetal force change value corresponding to the center of the front axle, the longitudinal running speed of the target vehicle is adjusted, the longitudinal control of the autonomous vehicle based on the transverse control information of the vehicle is achieved, the comfort of longitudinal control of the vehicle is improved, and the situation that the damage degree of vehicle parts is increased due to the fact that centripetal force is too large is avoided.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of self-driving vehicles, and in particular, to a longitudinal control method, device, device and medium for self-driving vehicles. Background technique [0002] The longitudinal control of intelligent driving vehicles can be understood as the automatic control of the vehicle's driving speed in the longitudinal direction. In the current longitudinal control in the field of intelligent driving, the prior art usually adopts the longitudinal control of the vehicle in combination with the load change of the self-driving vehicle during driving. The solutions in the prior art do not take into account the output results in the lateral control of the vehicle and feed back the longitudinal control. Therefore, the prior art has the technical problem that the comfort of the longitudinal control is poor. Contents of the invention [0003] Embodiments of the present invention provide a longitudin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W40/00
CPCB60W60/0013B60W40/00B60W2520/10B60W2520/00B60W2530/10B60W2720/10
Inventor 吴岗岗杜建宇王恒凯曹天书李超李佳骏赵逸群王皓南刘清宇
Owner CHINA FIRST AUTOMOBILE
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