Execution method for vehicle control of automatic driving vehicle

Abstract

The invention relates to an execution method for vehicle control of an automatic driving vehicle. The execution method comprises the following steps that the wind speed, the wind resistance, the vehicle speed, the vertical acceleration, the longitudinal acceleration, the transverse acceleration, the gradient, the tire angular acceleration, the steering angle of a steering engine, the driving force, the braking force and the tire vertical load are obtained; inputting the parameters into a tire dynamic model to obtain instantaneous longitudinal force, transverse force and aligning torque of the tire; solving and calibrating tire pavement characteristic parameters; transverse and longitudinal acceleration of the target is obtained, the parameters are input into the whole vehicle dynamics model, and braking force torque and driving force torque are obtained and processed; and the target driving force torque, the target braking force torque and the target tire slip rate are obtained, and the driving system controller and the braking system controller drive the vehicle to execute corresponding command actions correspondingly. Compared with the prior art, factors such as damping, vibration, chassis structure and wind resistance of the whole vehicle are fully considered, and the reliability, timeliness and accuracy of the automatic driving control execution method are improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to an execution method for vehicle control of an automatic driving vehicle. Background technique [0002] At present, autonomous driving technology is divided into three technical modules: perception positioning, decision planning and control execution. Among them, the perception and positioning technology module is used to obtain the environmental information of automatic driving, and the acquisition method is mainly through sensors such as radar and cameras. The decision-making planning technology module is used to make decisions such as path planning based on the positioning and environmental data provided by the perception and positioning technology module. , the control execution technology module is used to drive the vehicle to execute the corresponding command action. [0003] The control execution method for automatic driving in the prior art has the following def...

AI Technical Summary

Problems solved by technology

[0004] (1) Execution methods for vehicle control of self-driving vehicles in the prior art are approximate estimates of tire lateral and longitudinal friction coefficients and adhesion coefficients, and cannot adaptively calculate tire lateral and longitudinal directions, and are less adaptable to complex road conditions. Poor, severely limits the use of self-driving cars

[0005] (2) The execution method used in the prior art for the control of the entire vehicle of the self-driving vehicle is separated from the control system of the entire vehicle, and the control execution method needs to call the control system of the entire vehicle separately, resulting in the execution time of the control execution method being too long

At the same time, the vehicle control system has independent functional safety requirements, which poses a greater threat to the reliability of the overall control

[0006] (3) The modeling of the execution methods used for the control of the self-driving vehicle in the prior art is all one-dimensional rigid body modeling, and it is difficult to consider the suspension damping of the vehicle, the vertical vibration of the vehicle, and the overturning motion of the vehicle Factors such as vehicle wind resistance and other factors lead to insufficient control accuracy of existing control execution methods and increase the risk of control divergence of control execution methods, which is extremely unfavorable for expanding the scope of use of autonomous vehicles.

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