Longitudinal control method and device for vehicle

Abstract

The embodiment of the invention provides a longitudinal control method and a device for a vehicle, and the method comprises the steps: obtaining expected trajectory information in the automatic driving process of the vehicle, and determining acceleration planning information according to the expected trajectory information; wherein the acceleration planning information comprises a corresponding relation between time information and acceleration information; according to the acceleration planning information, performing dynamic preview on the acceleration information at the current moment to obtain first acceleration information; according to the first acceleration information, performing longitudinal control over automatic driving of the vehicle. According to the embodiment of the invention, the method achieves the dynamic preview of the acceleration for the expected trajectory of the vehicle, effectively reduces the system tracking error caused by the acceleration execution input delay, and avoids the delay response and control overshoot.

Description

technical field [0001] The present invention relates to the technical field of vehicles, in particular to a longitudinal control method and device for vehicles. Background technique [0002] With the rapid development of smart cars, the specific implementation and application of automatic driving is becoming more and more specific. The upstream of the motion control module (Motion Control, MC) in automatic driving is the path planning module (Motion Planning, MP), and the downstream is the vehicle The longitudinal control module (Vehicle Longitudinal Control, VLC) and the vehicle electronic stability control system (Electronic Stability Program, ESP). [0003] The upstream MP module can plan the expected trajectory for the next period of time according to the current vehicle position and speed information and the surrounding road environment. The trajectory contains information such as future position, speed, acceleration, etc., and then transmits the planned trajectory info...

AI Technical Summary

Problems solved by technology

In this process, there is a large delay in the process from the actual acceleration calculated by the motion control module to the effective execution of the operation value, which may cause delayed response and control overshoot of the actual system.

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