Acceleration control method for automatic driving
An acceleration control and automatic driving technology, which is applied in the direction of electric speed/acceleration control, etc., can solve the problems of acceleration control setbacks and intrusions, and achieve the effects of solving setbacks and intrusions, improving ride comfort, and optimizing acceleration control methods
Pending Publication Date: 2022-03-11
ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD
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[0003] The invention provides an acceleration control method for automatic driving, which solves the problems of frustration and disturbance in the acceleration control of the existing automatic driving of automobiles, optimizes the acceleration control method for automatic driving, and improves driving comfort and riding comfort
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[0031] In order to enable those skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below in conjunction with the drawings and implementations.
[0032] Aiming at the problem that the current automatic driving of automobiles has the problem of frustration and intrusion in the acceleration of the people's environment, the present invention provides an acceleration control method for automatic driving, which solves the problem of frustration and intrusion in the acceleration control of the existing automatic driving of automobiles, and can Optimize the acceleration control method of automatic driving to improve driving smoothness and ride comfort.
[0033] Such as figure 1 and figure 2 As shown, an acceleration control method for automatic driving, comprising:
[0034] S1: Set up the perception layer, prediction layer, planning decision layer and motion ...
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The invention provides an acceleration control method for automatic driving. The acceleration control method comprises the following steps: setting a sensing layer, a prediction layer, a planning decision layer and a motion control layer for automatic driving; a Frenet coordinate system is adopted to describe the position of the automobile relative to the road, and dynamic and static obstacles around the automobile are obtained through the sensing layer; the prediction layer adopts a prediction method based on a hidden Markov model to predict the motion trail of a dynamic obstacle in a future time period and the degree of influence on the driving state of the vehicle; the planning decision-making layer formulates a motion track, time and speed to a next target point, wherein the next target point is a position point of a dynamic obstacle and an intersection stop line; and the motion control layer calculates an acceleration control quantity according to the time of reaching the next target point and the starting and ending speeds, and controls an execution mechanism according to the acceleration control quantity. According to the method, the acceleration control method for automatic driving can be optimized, and the driving smoothness and the riding comfort are improved.
Description
technical field [0001] The invention relates to the technical field of automatic driving of automobiles, in particular to an acceleration control method for automatic driving. Background technique [0002] With the continuous increase of domestic car ownership, traffic jams, tight parking spaces and other problems are becoming more and more serious. The automatic driving technology of the vehicle proposes a new path to solve the above problems. The automatic driving of the vehicle is controlled by the lateral and Longitudinal motion control is achieved. At present, in practical applications, the PID controller is mostly used to directly control the longitudinal speed. Generally, the upper and lower limits are simply set for the acceleration, and the decision-making layer outputs the expected speed. The controller compares the difference between the current speed and the expected speed, and then controls the driving speed to achieve the desired speed. speed. In actual drivi...
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IPC IPC(8): G05D13/62
CPCG05D13/62
Inventor 王强吴琼丁钊
Owner ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD