A half-speed loop and half-acceleration loop unmanned vehicle control method

Abstract

The present invention relates to a half-speed loop and half-acceleration loop unmanned vehicle control method, which is used to control the unmanned vehicle, including: for the unmanned vehicle decision layer, simultaneously issuing vehicle speed and acceleration / deceleration instructions; at the same time, for the unmanned vehicle bottom layer, combining the decision layer instruction situation, judging the execution of speed or acceleration closed-loop control, wherein: the decision layer instruction situation includes the following situations: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0. The beneficial effect of the present invention is that, through the control method of the present invention, the unmanned vehicle is guaranteed to have more precise acceleration control accuracy during acceleration; and the unmanned vehicle is guaranteed to have more precise deceleration control accuracy during deceleration, thereby ensuring that the unmanned vehicle has the advantages of both safety and comfort.

Description

Technical Field

[0001] The invention relates to a method for controlling an unmanned vehicle with a half-speed loop and a half-acceleration loop. Background Art

[0002] With the rapid development of electric and intelligent vehicles, driverless cars are becoming an option for future mobility. These vehicles place higher demands on the reliability, safety, and comfort of the vehicle's control system. This vehicle control method optimizes the control methods of traditional manned vehicles, improving the stability of the vehicle's control system.

[0003] For manned vehicles, priority is given to driving torque control and braking force control strategies, combined with a closed-loop driver-vehicle control system to ensure a positive driving experience. For autonomous vehicles, the decision-making layer typically plans the path and passing speed simultaneously, streamlining code execution efficiency.

[0004] Given the decision-making characteristics of autonomous vehicles, most autonomous vehicles utilize a speed-controlled drive system at the bottom layer to directly respond to commands from the decision-making layer. This means that during the driving process, the motor controller (MCU) executes closed-loop speed control.

[0005] However, common electro-hydraulic brake systems (EHBs) are limited by their operating principles, requiring sensitive response to hydraulic pressure and high precision. Therefore, the ideal control method in a braking system is closed-loop control of braking force or hydraulic pressure, combined with calibration results for parameters such as vehicle mass and coasting resistance, resulting in closed-loop control of vehicle deceleration. As can be seen, the differences in the closed-loop control physical quantities during driving and braking can lead to interference during braking, resulting in poor braking performance and increased energy consumption. Summary of the Invention

[0006] In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide a half-speed loop and half-acceleration loop unmanned vehicle control method. Through the control method of the present invention, the unmanned vehicle is guaranteed to have more precise acceleration control accuracy during the acceleration process; and the unmanned vehicle is guaranteed to have more precise deceleration control accuracy during the deceleration process, thereby ensuring that the unmanned vehicle has the advantages of both safety and comfort.

[0007] The technical solution of the present invention is as follows:

[0008] A half-speed loop and half-acceleration loop unmanned vehicle control method, the unmanned vehicle control method is used to control the unmanned vehicle, comprising:

[0009] For the decision-making layer of the autonomous vehicle, speed and acceleration / deceleration instructions are issued simultaneously;

[0010] At the same time, for the bottom layer of the driverless car, combined with the instructions of the decision-making layer, the execution speed or acceleration closed-loop control is determined, where:

[0011] The decision-making layer instruction conditions include the following conditions: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0.

[0012] When the decision layer instruction situation is vehicle speed > 0 and acceleration > 0 or acceleration = 0: the MCU unit working state of the unmanned vehicle is working, and the speed closed-loop control is started; the EHB unit working state of the unmanned vehicle is not working, and the acceleration closed-loop control is not started.

[0013] When the decision layer instruction situation is that the vehicle speed is greater than 0 and the acceleration is less than 0: the MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; the EHB unit of the unmanned vehicle is in an operational state, and the acceleration closed-loop control is started.

[0014] The unmanned vehicle is provided with an IMU unit, and the slope i of the unmanned vehicle is: i=0%, i≤20% and i>20%.

[0015] When the slope i of the unmanned vehicle is 0%, and when the decision-making layer instruction is that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0: the working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is started; the working state of the EHB unit of the unmanned vehicle is not working, and the acceleration closed-loop control is not started.

[0016] When the slope i of the unmanned vehicle is 0%, and when the decision-making layer instruction situation is that the vehicle speed is greater than 0 and the acceleration is less than 0: the working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is started.

[0017] When the unmanned vehicle is traveling downhill with a slope i≤20%, and when the decision-making layer instruction is that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0: the MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started; the EHB unit of the unmanned vehicle is in working state, and the acceleration closed-loop control is not started.

[0018] When the unmanned vehicle is traveling downhill with a slope i≤20%, and when the decision-making layer instruction is that the vehicle speed is greater than 0 and the acceleration is less than 0: the MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; the EHB unit of the unmanned vehicle is in an operational state, and the acceleration closed-loop control is started.

[0019] When the slope i of the unmanned vehicle is downhill>20%, and when the decision-making layer instruction situation is that the vehicle speed is>0 and the acceleration is<0.2g: the working state of the MCU unit of the unmanned vehicle is not working, and the speed closed-loop control is not started; the working state of the EHB unit of the unmanned vehicle is working, and the acceleration closed-loop control is started; when the slope i of the unmanned vehicle is downhill>20%, and when the decision-making layer instruction situation is that the vehicle speed is>0 and the acceleration is<0.2g: the working state of the MCU unit of the unmanned vehicle is working, and the speed closed-loop control is started; the working state of the EHB unit of the unmanned vehicle is not working, and the acceleration closed-loop control is not started.

[0020] When the slope i of the unmanned vehicle is greater than 20% downhill, and when the decision-making layer instruction situation is that the vehicle speed is greater than 0 and the acceleration is equal to 0 or the acceleration is less than 0: the MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; the EHB unit of the unmanned vehicle is in an operational state, and the acceleration closed-loop control is started.

[0021] The present invention has the following advantages and beneficial effects: the unmanned vehicle control method with a half-speed loop and a half-acceleration loop provided by the embodiment of the present invention simultaneously issues vehicle speed and acceleration / deceleration instructions to the decision-making layer of the unmanned vehicle; at the same time, for the bottom layer of the unmanned vehicle, combined with the instruction situation of the decision-making layer, it is judged to execute speed or acceleration closed-loop control, wherein: the instruction situation of the decision-making layer includes the following situations: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0; through the unmanned vehicle control method with a half-speed loop and a half-acceleration loop provided by the present invention, the vehicle can ensure more precise vehicle speed control accuracy during acceleration; and ensure more precise deceleration control accuracy during deceleration, thereby ensuring that the unmanned vehicle has the advantages of both safety and comfort. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] The present invention will be further described below with reference to specific embodiments.

[0024] An embodiment of the present invention provides a half-velocity loop and half-acceleration loop unmanned vehicle control method, which is used to control an unmanned vehicle, including:

[0025] For the decision-making layer of the unmanned vehicle, the vehicle speed and acceleration / deceleration instructions are issued at the same time; at the same time, for the bottom layer of the unmanned vehicle, the speed or acceleration closed-loop control is judged and executed in combination with the instruction situation of the decision-making layer, wherein: the instruction situation of the decision-making layer includes the following situations: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0, as shown in Table 1 below.

[0026] Table 1

[0027]

[0028] As shown in Table 1, when the decision layer instruction situation is vehicle speed>0 and acceleration>0 or acceleration=0:

[0029] The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started;

[0030] The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

[0031] As shown in Table 1, when the decision layer instruction situation is vehicle speed>0 and acceleration<0:

[0032] The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started;

[0033] The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

[0034] When an IMU (Inertial Measurement Unit) is installed on the unmanned vehicle, the slope condition can be combined, and the slope i of the unmanned vehicle is: i=0%, i≤20% and i>20%, as shown in Table 2 below.

[0035] Table 2

[0036]

[0037] When the slope of the unmanned vehicle is i=0%, and when the decision layer indicates that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0:

[0038] The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started;

[0039] The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

[0040] As shown in Table 2, when the slope of the unmanned vehicle is i=0%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is less than 0:

[0041] The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started;

[0042] The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

[0043] When the unmanned vehicle is traveling downhill at a slope of i≤20%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0:

[0044] The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started;

[0045] The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

[0046] As shown in Table 2, when the unmanned vehicle is traveling downhill with a slope i≤20%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is less than 0:

[0047] The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started;

[0048] The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

[0049] When the unmanned vehicle is traveling downhill at a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is<0.2g:

[0050] The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started;

[0051] The EHB unit of the unmanned vehicle is in working state, and the acceleration closed-loop control is started;

[0052] As shown in Table 2, when the unmanned vehicle is traveling downhill with a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is<0.2g:

[0053] The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started;

[0054] The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

[0055] As shown in Table 2, when the unmanned vehicle is traveling downhill with a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is 0 or the acceleration is<0:

[0056] The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started;

[0057] The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

[0058] The half-speed loop and half-acceleration loop unmanned vehicle control method provided in the embodiment of the present invention can ensure that the unmanned vehicle has more precise vehicle speed control accuracy during the acceleration process; at the same time, the unmanned vehicle has more precise deceleration control accuracy during the deceleration process, thereby ensuring that the unmanned vehicle has the advantages of both safety and comfort.

[0059] Finally, it should be noted that the embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A half-velocity loop and half-acceleration loop unmanned vehicle control method, which is used to control an unmanned vehicle, characterized in that: include: For the decision-making layer of the autonomous vehicle, speed and acceleration / deceleration instructions are issued simultaneously; At the same time, for the bottom layer of the driverless car, combined with the instructions of the decision-making layer, the execution speed or acceleration closed-loop control is determined, where: The decision layer instruction conditions include the following conditions: vehicle speed>0 and acceleration>0, vehicle speed>0 and acceleration=0, and vehicle speed>0 and acceleration<0; When the decision layer instruction situation is that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0: The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started; The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not activated; When the decision layer indicates that the vehicle speed is greater than 0 and the acceleration is less than 0: The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; The EHB unit of the unmanned vehicle is in working state, and the acceleration closed-loop control is started; The unmanned vehicle is provided with an IMU unit, and the slope i of the unmanned vehicle is: i=0%, i≤20% and i>20%.

2. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the slope of the unmanned vehicle is i=0%, and when the decision layer indicates that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0: The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started; The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

3. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the slope of the unmanned vehicle is i=0%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is less than 0: The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

4. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the unmanned vehicle is traveling downhill at a slope of i≤20%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is greater than 0 or the acceleration is equal to 0: The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started; The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

5. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the unmanned vehicle is traveling downhill at a slope of i≤20%, and when the decision layer instructs that the vehicle speed is greater than 0 and the acceleration is less than 0: The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

6. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the unmanned vehicle is traveling downhill at a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is<0.2g: The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; The EHB unit of the unmanned vehicle is in working state, and the acceleration closed-loop control is started; When the unmanned vehicle is traveling downhill at a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is<0.2g: The MCU unit of the unmanned vehicle is in working state, and the speed closed-loop control is started; The EHB unit of the unmanned vehicle is in an inoperative state, and the acceleration closed-loop control is not started.

7. The half-velocity-loop and half-acceleration-loop unmanned vehicle control method according to claim 1, characterized in that: When the unmanned vehicle is traveling downhill at a slope of i>20%, and when the decision layer instructs that the vehicle speed is>0 and the acceleration is 0 or the acceleration is <0: The MCU unit of the unmanned vehicle is in an inoperative state, and the speed closed-loop control is not started; The EHB unit of the unmanned vehicle is in working state, and acceleration closed-loop control is started.

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