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Processing method for automatic driving longitudinal control based on speed mode state machine

A speed mode and automatic driving technology, applied in the field of data processing, can solve problems such as frequent switching of accelerator/brake, and achieve the effect of prolonging the life of mechanical hardware and improving the ride experience

Pending Publication Date: 2022-04-29
北京轻舟智航智能技术有限公司
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Problems solved by technology

The present invention can solve the problem of frequent accelerator / brake switching caused by the fluctuation of the real-time expected acceleration, improve the riding experience of passengers, and prolong the life of the mechanical hardware of the vehicle accelerator / brake

Method used

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  • Processing method for automatic driving longitudinal control based on speed mode state machine
  • Processing method for automatic driving longitudinal control based on speed mode state machine

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0040] Embodiment 1 of the present invention provides a processing method for automatic driving longitudinal control based on the speed mode state machine, such as figure 1 As shown in the schematic diagram of a processing method for longitudinal control of automatic driving based on the speed mode state machine provided by Embodiment 1 of the present invention, the method mainly includes the following steps:

[0041] Step 1, when the vehi...

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Abstract

The embodiment of the invention relates to a processing method for automatic driving longitudinal control based on a speed mode state machine, and the method comprises the steps: carrying out the state machine initialization of the speed mode state machine when a vehicle enters an automatic driving state; speed mode parameter initialization is carried out on the speed mode parameters; acquiring a first expected acceleration and a first idle acceleration; calculating and generating corresponding first reference acceleration and second reference acceleration; based on a speed mode state machine, performing parameter modulation on the speed mode parameter according to the first expected acceleration and the first and second reference accelerations to obtain a latest speed mode parameter; and longitudinally controlling the vehicle according to the latest speed mode parameter, the first expected acceleration, the first reference acceleration and the second reference acceleration. By means of the method and device, the problem of frequent accelerator / brake switching caused by fluctuation of the real-time expected acceleration can be solved, the riding body feeling of passengers can be improved, and the service life of mechanical hardware of a vehicle accelerator / brake can be prolonged.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a processing method for longitudinal control of automatic driving based on a speed mode state machine. Background technique [0002] During the automatic driving process, the vehicle is controlled laterally and vertically through the automatic driving control module. The longitudinal control actually means that the automatic driving control module controls the accelerator / brake of the automatic driving vehicle according to the expected acceleration issued by the vehicle planning module in real time to achieve the corresponding acceleration / deceleration effect. Under normal circumstances, if the desired acceleration is greater than zero (0m / s 2 ) then control the throttle to accelerate, if the desired acceleration is less than zero (0m / s 2 ) to control the brake to decelerate. But this processing method expects the acceleration to be zero in real time (0.0m / s 2 ) will ...

Claims

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Application Information

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IPC IPC(8): B60W60/00
CPCB60W60/001B60W2720/106
Inventor 张杨宇李栋刘志超李世军骆振兴
Owner 北京轻舟智航智能技术有限公司
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