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Vehicle control method and device, electronic equipment and storage medium

A vehicle control and controller technology, applied in the field of devices, electronic equipment and storage media, and vehicle control methods, can solve problems affecting the stability of autonomous driving vehicles, vehicle instability, etc., to improve control accuracy, reduce driving errors, The effect of ensuring safety

Pending Publication Date: 2022-06-28
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to obtain the error between the expected speed and the actual speed through the sensor signal, the control of the longitudinal speed is realized through PID control. However, if there is a large acceleration expectation in the longitudinal and lateral directions, the longitudinal speed is controlled independently based on this method, and the vehicle will be unstable. Risks affecting the stability of autonomous vehicles

Method used

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  • Vehicle control method and device, electronic equipment and storage medium
  • Vehicle control method and device, electronic equipment and storage medium
  • Vehicle control method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0026] figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation of controlling the driving of a vehicle. The method can be executed by the vehicle control device in the embodiment of the present invention, and the device can use software and / or hardware. Optionally, the electronic device may be a mobile terminal, a PC terminal, a server terminal, or the like. The device may be configured in a computing device, and the vehicle control method provided in this embodiment specifically includes the following steps:

[0027] S110: Acquire vehicle state data and noise data corresponding to the target vehicle at the current moment.

[0028] It should be noted that when the target vehicle follows the target planned trajectory, when it is necessary to obtain the vehicle state data and noise data at each moment during the driving process, the vehicle state data and noise data at any moment...

Embodiment 2

[0066] As an optional embodiment of the foregoing embodiment, in order to further clarify the technical solutions of the embodiments of the present invention to those skilled in the art, a specific application scenario example is given. Specifically, please refer to the following specific content.

[0067] Exemplary, see figure 2 , which can be represented as a schematic structural diagram of a vehicle control device, and the technical solution of this embodiment can be jointly implemented by the safety logic processing module 210 , the trajectory smoothing module 220 and the longitudinal-lateral coupling motion controller 230 . The braking system feedback signal, steering system feedback signal, driving system feedback signal, fusion positioning information and other information can be used as vehicle state data, and the target discrete trajectory can be used as the target planning trajectory, among which the braking system feedback signal, steering system feedback signal, ...

Embodiment 3

[0083] Figure 4 This is a structural block diagram of a vehicle control device provided in Embodiment 3 of the present invention. The device includes: a data acquisition module 410 , a vehicle control data determination module 420 and a vehicle control data transmission module 430 .

[0084] Among them, the data acquisition module 410 is used to acquire the vehicle status data and noise data corresponding to the target vehicle at the current moment; the vehicle control data determination module 420 is used to obtain the vehicle status data, the noise data, and the current moment based on the vehicle status data, the noise data, and the Corresponding preset track point information to determine the vehicle control data at the next moment at the current moment, wherein the vehicle control data includes the longitudinal angle, driving acceleration and braking deceleration; the vehicle control data sending module 430, A controller for sending the vehicle control data to the targe...

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Abstract

The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring vehicle state data and noise data corresponding to a target vehicle at the current moment; determining vehicle control data at the next moment of the current moment based on the vehicle state data, the noise data and preset track point information corresponding to the current moment; and the vehicle control data is sent to a controller of the target vehicle, so that the target vehicle is controlled to run along the target planning track based on the controller. The problem that in the prior art, longitudinal speed control is achieved based on PID control, and consequently the vehicle control stability is low is solved, the vehicle control accuracy and stability are improved, the vehicle following error is reduced, and the effect of guaranteeing the vehicle automatic driving safety is achieved.

Description

technical field [0001] Embodiments of the present invention relate to computer processing technologies, and in particular, to a vehicle control method, device, electronic device, and storage medium. Background technique [0002] The problem of the motion following the navigation trajectory of the autonomous vehicle has always been a topic of increasing attention at home and abroad. The motion following control generally adopts the longitudinal PID control (Proportional-Integral-Derivative control, integral derivative control) method. In order to obtain the error between the desired speed and the actual speed through the sensor signal, the longitudinal speed control is realized through PID control, but if there is a large acceleration expectation in both longitudinal and lateral directions, the longitudinal speed is independently controlled based on this method, and the vehicle is unstable. risk and affect the stability of autonomous vehicles. SUMMARY OF THE INVENTION [0...

Claims

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Application Information

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IPC IPC(8): B60W60/00B60W50/00
CPCB60W60/0015B60W50/00B60W2050/0011B60W2720/10B60W2050/0034
Inventor 刘金波张建高原刘梦可王宇李林润姜洪伟
Owner CHINA FIRST AUTOMOBILE