Vehicle longitudinal motion control system and method based on state judgment and error feedback

Abstract

The invention relates to a vehicle longitudinal motion control system based on state judgment and error feedback. The vehicle longitudinal motion control system comprises a vehicle longitudinal motion control module, a hill starting module and a vehicle motion state sensor. The vehicle longitudinal motion control module comprises an upper-layer controller and a lower-layer controller, the upper-layer controller is used for obtaining expected acceleration according to the distance and the speed, the lower-layer controller is used for coordinating driving and braking instructions to track expected values given by the upper-layer controller, and the vehicle motion state sensor is used for detecting the vehicle speed of the vehicle and inputting the vehicle speed to the vehicle longitudinal motion control module and the hill starting module. Braking and driving of the vehicle can be coordinated at the same time, longitudinal shaking caused by frequent switching of driving and braking of the vehicle is avoided, and the steady-state error of the longitudinal movement of the vehicle can be eliminated, so that the actual speed of the controlled vehicle accurately follows the expected speed; and the ramp starting control of the vehicle can be realized, and the vehicle can be prevented from sliding on ramps with different gradients.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a vehicle longitudinal motion control system and method based on state judgment and error feedback. Background technique [0002] Vehicle longitudinal motion control refers to the use of a certain control strategy to adjust the longitudinal motion state of the vehicle, so that the actual motion state of the controlled vehicle is as close as possible to the desired motion state. Vehicle longitudinal motion control is also an important part of the current automatic driving vehicle motion control. In a self-driving vehicle, the decision-making planning module is responsible for judging the current state of the vehicle, and sending the expected vehicle speed of the current vehicle to the longitudinal control strategy. The longitudinal control strategy calculates the corresponding driving torque or braking torque based on the current vehicle speed and the expected speed of the vehicle....

AI Technical Summary

Problems solved by technology

[0003] In the prior art, problems such as switching fluctuations, instability, and complex parameters that are easily generated by using different independent control algorithms for driving / braking are reflected in the vehicle control, that is, the vehicle shakes and the occupants ride uncomfortable; the existing technology only increases Due to factors such as IMU perception errors, disturbances in the driving environment, and gaps in the vehicle actuators when starting on a slope, the phenomenon of sliding at the start often occurs.

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