A method for predicting longitudinal acceleration

Abstract

An embodiment of the present invention relates to a method for predicting longitudinal acceleration. The method includes: obtaining a first feedback information group and a corresponding first planned trajectory; predicting a feedforward control quantity of the longitudinal acceleration based on the first feedback information group and the first planned trajectory to generate a corresponding feedforward control quantity a forward ; predicting a feedback control quantity of the longitudinal acceleration based on the first feedback information group and the first planned trajectory to generate a corresponding feedback control quantity a backward ; adding the feedforward control quantity a forward and the feedback control quantity a backward to generate a predicted control quantity a of the longitudinal acceleration; and modulating the predicted control quantity a according to a preset acceleration constraint range. Through the present invention, the control module will consider the delay characteristics of the vehicle during longitudinal control, thereby eliminating problems such as hysteresis and overshoot caused by longitudinal delay.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method for predicting longitudinal acceleration. Background Art

[0002] The working modules of the autonomous driving system include a planning module and a control module. The planning module is used to plan the vehicle's driving trajectory in the future and send the planned trajectory to the control module. The control module includes lateral control and longitudinal control. The longitudinal control part tracks and controls the vehicle's longitudinal driving parameters (such as speed and acceleration) based on the PID control principle according to the planned trajectory sent by the planning module. The longitudinal control part of the control module will affect the vehicle's ride comfort and obstacle avoidance accuracy. In practice, we have found that conventional control modules do not consider delay prediction when performing longitudinal control, which may cause a large control overshoot problem. Once control overshoot occurs, it will have a significant negative impact on the vehicle's ride comfort and obstacle avoidance accuracy. Summary of the invention

[0003] The purpose of the present invention is to provide a method for predicting longitudinal acceleration, an electronic device and a computer-readable storage medium to address the defects of the prior art. First, the longitudinal acceleration feedforward control amount a is queried from the planned trajectory according to the current feedback time and the known delay parameters. forward ; Then, the longitudinal speed deviation between the current feedback speed and the starting speed of the planned trajectory, the longitudinal positioning deviation between the current feedback coordinates and the starting coordinates of the planned trajectory, the longitudinal positioning deviation integral of the longitudinal positioning deviation from the starting time of the planned trajectory to the current feedback time, and the longitudinal acceleration control quantity estimated by the current feedback longitudinal acceleration according to the first-order inertia link transfer function G(s) constitute the corresponding current state quantity; Then, the expression of the predicted state quantity is obtained according to the known state quantity prediction equation; Then, according to the optimal control theory, the minimum objective function J is set, and the Riccati equation of the minimum objective function J is obtained according to the second method of Liapunov, and the optimal feedback control quantity equation group of the vehicle is obtained according to the optimal control theory, the minimum objective function J and the Riccati equation of the minimum objective function J; and the feedback control quantity a of the longitudinal acceleration is obtained by solving the optimal feedback control quantity equation group. backward ; Then the feedforward control quantity a forward and the feedback control quantity a backward The predicted control amount of the longitudinal acceleration is obtained by adding them together, and the predicted control amount is modulated based on the preset acceleration constraint range. Through the present invention, the control module will take the delay characteristics of the vehicle into consideration when performing longitudinal control, thereby eliminating the problems of lag and overshoot caused by the longitudinal delay, thereby achieving the purpose of improving the vehicle's riding comfort and obstacle avoidance accuracy.

[0004] To achieve the above object, a first aspect of an embodiment of the present invention provides a method for predicting longitudinal acceleration, the method comprising:

[0005] Obtaining a first feedback information group and a corresponding first planning trajectory;

[0006] The feedforward control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate the corresponding feedforward control amount a forward ;

[0007] According to the first feedback information group and the first planned trajectory, the feedback control amount of the longitudinal acceleration is predicted to generate the corresponding feedback control amount a backward ;

[0008] The feedforward control quantity a forward and the feedback control amount a backward Adding together generates a predicted control amount a of longitudinal acceleration; and modulating the predicted control amount a according to a preset acceleration constraint range; wherein the longitudinal acceleration control amount a k+1 For: a=a forward +a backward .

[0009] Preferably, the first planned trajectory includes a plurality of first trajectory points N i ; The first trajectory point N i Including the first time i , the first coordinate p i , the first longitudinal acceleration a i and the first longitudinal velocity v i , i≥1; the first first trajectory point N of the first planned trajectory i The first time t i , the first coordinate p i and the first longitudinal velocity v i are recorded as the corresponding starting time t0, starting coordinates p0 and starting longitudinal velocity v0;

[0010] The first feedback information group includes feedback time t b,k , feedback coordinate p b,k , Feedback longitudinal acceleration a b,k and feedback longitudinal velocity v b,k .

[0011] Preferably, the feedforward control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate the corresponding feedforward control amount a forward , specifically including:

[0012] Step 31: according to the preset track point interval period T n , preset pure lag delay parameter t delay , the feedback time t b,k The trajectory point index j corresponding to the starting time t0 is calculated as: int() is the rounding up function;

[0013] Step 32: match the first trajectory point N with the trajectory point index i in the first planned trajectory and the trajectory point index j. i＝j The first longitudinal acceleration a i＝j As the corresponding feedforward control amount a forward .

[0014] Preferably, the feedback control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate the corresponding feedback control amount a backward , specifically including:

[0015] Step 41, according to the feedback longitudinal velocity v b,k and the initial longitudinal velocity v0 to determine the corresponding longitudinal velocity deviation e v,k For: e v,k =v b,k -v0; and the longitudinal speed deviation e according to the preset first threshold range; v,k Modulation: If the longitudinal velocity deviation e v,k If the longitudinal speed deviation e is lower than the minimum value of the first threshold range, v,k is set to the minimum value of the first threshold range. If the longitudinal speed deviation e v,k If the maximum value of the first threshold range is higher than the maximum value of the first threshold range, the longitudinal speed deviation e v,k is set to the maximum value of the first threshold range;

[0016] Step 42: according to the feedback coordinate p b,k and the starting coordinate p0 to determine the corresponding longitudinal positioning deviation e p,k For: (p b,k -p0) driving direction component; and the longitudinal positioning deviation e according to the preset second threshold range p,k Modulation: If the longitudinal positioning deviation e p,k If the minimum value of the second threshold range is lower than the minimum value of the second threshold range, the longitudinal positioning deviation e p,k is set to the minimum value of the second threshold range, if the longitudinal positioning deviation e p,k If the maximum value of the second threshold range is higher than the maximum value of the second threshold range, the longitudinal positioning deviation e p,k is set to the maximum value of the second threshold range;

[0017] Step 43: calculate the time from the start time t0 to the feedback time t b,k The longitudinal positioning deviation is integrated over time to obtain the corresponding longitudinal positioning deviation integral e pI,k for: The longitudinal positioning deviation integral e is calculated according to a preset third threshold range. pI,k Modulation: If the longitudinal positioning deviation integral e pI,k If the value is lower than the minimum value of the third threshold range, the longitudinal positioning deviation integral e pI,k is set to the minimum value of the third threshold range, if the longitudinal positioning deviation integral e pI,k If the maximum value of the third threshold range is higher than the maximum value of the third threshold range, the longitudinal positioning deviation integral e pI,k is set to the maximum value of the third threshold range;

[0018] Step 44: according to the feedback longitudinal acceleration a b,k , the preset first-order inertia link time coefficient τ and the preset first-order inertia link transfer function, estimate the corresponding longitudinal acceleration control amount a c,k For: a c,k =(τ·s+1)·a b,k ; The first-order inertia link transfer function G(s) is: s is the Laplace operator of the first-order inertia link transfer function;

[0019] Step 45, based on the longitudinal velocity deviation e v,k , the longitudinal positioning deviation e p,k , the longitudinal positioning deviation integral e pI,k and the longitudinal acceleration control amount a c,k The corresponding state quantity X k [e pI,k ,e p,k ,e v,k ,a c,k ];

[0020] Step 46: set the feedback time t b,k With the preset pure hysteresis delay parameter t delay The sum of is the corresponding prediction time t k+1 , t k+1 =t b,k +t delay ; and will be from the feedback time t b,k To the predicted time t k+1 The state quantity prediction equation is set as:

[0021] X k+1 =AX k +Ba c,k+C,

[0022] Among them, matrices A, B, and C are:

[0023] Step 47, according to the optimal control theory, the minimum objective function J is set to:

[0024]

[0025] Among them, Δa c,k→k+1 is the feedback time t b,k To the predicted time t k+1 The longitudinal acceleration change, the matrix Q is a preset 4*4 order positive definite matrix or semi-positive definite matrix, and the matrix R is a preset 1*1 order positive definite matrix;

[0026] Step 48, according to the state quantity prediction equation and the minimum objective function J, the optimal feedback control quantity equation group is set as:

[0027] a backward =-K·X k ,

[0028] K=(B T SB+R) -1 B T SA,

[0029] S=A T SA-A T SB(B T SB+R) -1 B T SA+Q;

[0030] Step 49, solving the optimal feedback control quantity equation group to calculate the corresponding feedback control quantity a backward .

[0031] Preferably, the modulating the predicted control amount a according to a preset acceleration constraint range specifically includes:

[0032] If the predicted control amount a is lower than the minimum value of the acceleration constraint range, the predicted control amount a is set to the minimum value of the acceleration constraint range; if the predicted control amount a is higher than the maximum value of the acceleration constraint range, the predicted control amount a is set to the maximum value of the acceleration constraint range.

[0033] A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0034] The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0035] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0036] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect above.

[0037] The embodiment of the present invention provides a method for predicting longitudinal acceleration, an electronic device and a computer-readable storage medium. First, the longitudinal acceleration feedforward control amount a is queried from the planned trajectory according to the current feedback time and the known delay parameter. forward ; Then, the longitudinal speed deviation between the current feedback speed and the starting speed of the planned trajectory, the longitudinal positioning deviation between the current feedback coordinates and the starting coordinates of the planned trajectory, the longitudinal positioning deviation integral of the longitudinal positioning deviation from the starting time of the planned trajectory to the current feedback time, and the longitudinal acceleration control quantity estimated by the current feedback longitudinal acceleration according to the first-order inertia link transfer function G(s) constitute the corresponding current state quantity; Then, the expression of the predicted state quantity is obtained according to the known state quantity prediction equation; Then, the minimum objective function J is set according to the optimal control theory, and the Riccati equation of the minimum objective function J is obtained according to the second method of Lyapunov, and the optimal feedback control quantity equation group of the vehicle is obtained according to the optimal control theory, the minimum objective function J and the Riccati equation of the minimum objective function J; and the feedback control quantity a of the longitudinal acceleration is obtained by solving the optimal feedback control quantity equation group. backward ; Then the feedforward control quantity a forward and the feedback control quantity a backward The predicted control amount of the longitudinal acceleration is obtained by adding them together, and the predicted control amount is modulated based on the preset acceleration constraint range. Through the present invention, the control module takes the delay characteristics of the vehicle into consideration when performing longitudinal control, eliminating the problems of lag and overshoot caused by longitudinal delay, and improving the vehicle's riding comfort and obstacle avoidance accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a method for predicting longitudinal acceleration provided in Embodiment 1 of the present invention;

[0039] Figure 2 A schematic diagram of the structure of an electronic device provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, 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 part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] A method for predicting longitudinal acceleration is provided in a first embodiment of the present invention. Figure 1 As shown in the schematic diagram of a method for predicting longitudinal acceleration provided in the first embodiment of the present invention, the method mainly comprises the following steps:

[0042] Step 1, obtaining a first feedback information group and a corresponding first planning trajectory;

[0043] The first feedback information group includes the feedback time t b,k , feedback coordinate p b,k , Feedback longitudinal acceleration a b,k and feedback longitudinal velocity v b,k ; The first planned trajectory includes a plurality of first trajectory points N i ; The first trajectory point N i Including the first time i , the first coordinate p i , the first longitudinal acceleration a i and the first longitudinal velocity v i , i≥1; the first trajectory point N of the first planned trajectory i The first time i , the first coordinate p i and the first longitudinal velocity v i The corresponding starting time t0, starting coordinate p0 and starting longitudinal velocity v0 are recorded.

[0044] Here, the control module of the vehicle automatic driving system obtains real-time feedback information, namely, the first feedback information group, from the vehicle positioning module and / or chassis module, wherein the feedback coordinate p b,k Feedback longitudinal acceleration a b,k and feedback longitudinal velocity v b,k is the current positioning coordinates, current longitudinal acceleration and current longitudinal speed of the vehicle, and the feedback time t b,k The first planning trajectory is the planning trajectory issued by the upstream planning module of the control module. The control module obtains the planning trajectory from the planning module once every planning cycle and stores it locally. The control module also reads the latest saved planning trajectory, i.e., the first planning trajectory, from the local computer each time it obtains the first feedback information group from the vehicle positioning module and / or chassis module. The first planning trajectory consists of multiple planning trajectory points, i.e., the first trajectory point N.i Each first trajectory point N i The planning time corresponding to a trajectory point is the first time t i , a trajectory point planning positioning coordinates, that is, the first coordinate p i , the longitudinal acceleration of a trajectory point is the first longitudinal acceleration a i and a trajectory point planning longitudinal velocity, namely the first longitudinal velocity v i The starting point of the first planned trajectory is the first trajectory point N i＝1 The first time i＝1 , the first coordinate p i＝1 and the first longitudinal velocity v i＝1 It is recorded as the starting time t0, starting coordinates p0 and starting longitudinal speed v0 corresponding to the current planned trajectory, that is, the first planned trajectory.

[0045] Step 2: predict the feedforward control amount of the longitudinal acceleration according to the first feedback information group and the first planned trajectory to generate the corresponding feedforward control amount a forward ;

[0046] Specifically comprising: step 21, according to the preset track point interval period T n , preset pure lag delay parameter t delay , feedback time t b,k The trajectory point index j corresponding to the start time t0 is calculated as: int() is the rounding up function;

[0047] Here, the track point interval period T n , pure hysteresis delay parameter t delay are two preset system parameters; time (t b,k +t delay ) is actually the next prediction time t k+1 , the trajectory point index j is the first planned trajectory that is no later than the predicted time t k+1 The index of the planned trajectory point with the closest time distance;

[0048] Step 22: match the first trajectory point N with the trajectory point index i in the first planned trajectory and the trajectory point index j. i＝j The first longitudinal acceleration a i＝j As the corresponding feedforward control quantity a forward .

[0049] Here, the feedforward control quantity a forward In fact, the first planning trajectory is no later than the predicted time t k+1 And the longitudinal acceleration of the planned trajectory point that is closest in time.

[0050] Step 3: predict the feedback control amount of the longitudinal acceleration according to the first feedback information group and the first planned trajectory to generate the corresponding feedback control amount a backward ;

[0051] Specifically comprising: step 31, according to the feedback longitudinal speed v b,k and the initial longitudinal velocity v0 to determine the corresponding longitudinal velocity deviation e v,k For: e v,k =v b,k -v0; and the longitudinal speed deviation e according to the preset first threshold range v,k Modulation: If the longitudinal speed deviation e v,k If the longitudinal speed deviation e is lower than the minimum value of the first threshold range, v,k Set to the minimum value of the first threshold range, if the longitudinal speed deviation e v,k If the maximum value of the first threshold range is higher than the maximum value of the first threshold range, the longitudinal speed deviation e v,k Set to the maximum value of the first threshold range;

[0052] Here, the first threshold range may be set to [-2, 2] by default;

[0053] Step 32: according to the feedback coordinate p b,k and the starting coordinate p0 to determine the corresponding longitudinal positioning deviation e p,k For: (p b,k -p0) driving direction component; and according to the preset second threshold range of the longitudinal positioning deviation e p,k Modulation: If the longitudinal positioning deviation e p,k If the minimum value is lower than the second threshold range, the longitudinal positioning deviation e p,k Set to the minimum value of the second threshold range, if the longitudinal positioning deviation e p,k If the maximum value of the second threshold range is higher than the vertical positioning deviation e p,k is set to the maximum value of the second threshold range;

[0054] Here, the second threshold range may be set to [-5, 5] by default;

[0055] Step 33, from the start time t0 to the feedback time t b,k The longitudinal positioning deviation is integrated over time to obtain the corresponding longitudinal positioning deviation integral e pI,k for: And the longitudinal positioning deviation integral e is calculated according to the preset third threshold range pI,k Modulation: If the longitudinal positioning deviation integral e pI,k If the value is lower than the minimum value of the third threshold range, the longitudinal positioning deviation integral e pI,k Set to the minimum value of the third threshold range, if the longitudinal positioning deviation integral e pI,kIf the maximum value of the third threshold range is higher than the vertical positioning deviation integral e pI,k is set to the maximum value of the third threshold range;

[0056] Here, the third threshold range may be set to [-30, 30] by default;

[0057] Step 34: according to the feedback longitudinal acceleration a b,k , the preset first-order inertia link time coefficient τ and the preset first-order inertia link transfer function, estimate the corresponding longitudinal acceleration control amount a c,k For: a c,k =(τ·s+1)·a b,k ;

[0058] Among them, the first-order inertia link transfer function G(s) is: s is the Laplace operator of the first-order inertial link transfer function;

[0059] Here, the first-order inertia link transfer function G(s) of the embodiment of the present invention is actually the output (feedback longitudinal acceleration a b,k ) and input (longitudinal acceleration control amount a c,k ) of the Laplace transform ratio; the first-order inertial link transfer function G(s) and the feedback longitudinal acceleration a b,k The longitudinal acceleration control amount a can be obtained c,k The expression of: a c,k =(τ·s+1)·a b,k ; Based on this expression, the corresponding longitudinal acceleration control amount a can be estimated c,k ;

[0060] Step 35, based on the longitudinal velocity deviation e v,k , longitudinal positioning deviation e p,k , longitudinal positioning deviation integral e pI,k and longitudinal acceleration control amount a c,k The corresponding state quantity X k [e pI,k ,e p,k ,e v,k ,a c,k ];

[0061] Step 36: set the feedback time t b,k With the preset pure hysteresis delay parameter t delay The sum of is the corresponding prediction time t k+1 , t k+1 =t b,k +t delay ; and will be from the feedback time t b,k To the prediction time t k+1 The state quantity prediction equation is set as:

[0062] X k+1 =AX k +Ba c,k +C,

[0063] Among them, matrices A, B, and C are:

[0064] Step 37, according to the optimal control theory, the minimum objective function J is set to:

[0065]

[0066] Among them, Δa c,k→k+1 is the feedback time t b,k To the prediction time t k+1 The longitudinal acceleration change, the matrix Q is a preset 4*4 order positive definite matrix or semi-positive definite matrix, and the matrix R is a preset 1*1 order positive definite matrix;

[0067] Here, setting the minimum objective function J according to the optimal control theory is a well-known technical common sense in the field of automatic control, and will not be described in detail here;

[0068] Step 38, according to the state quantity prediction equation and the minimum objective function J, the optimal feedback control quantity equation group is set as:

[0069] a backward =-K·X k ,

[0070] K=(B T SB+R) -1 B T SA,

[0071] S=A T SA-A T SB(B T SB+R) -1 B T SA+Q;

[0072] Here, the embodiment of the present invention obtains the Riccati equation of the minimum objective function J according to Lyapunov's second method, that is, S=A T SA-A T SB(B T SB+R) -1 B T SA+Q, then according to the known optimal control theory, the set minimum objective function J and the obtained Riccati equation (S equation), the corresponding optimal feedback control quantity equation can be set, that is, a backward The equation and the transformation matrix equation are the K equations, which are composed of the S equation, the K equation and a backwardThe equations constitute the optimal feedback control quantity equation group; the setting method of the above equation group is a well-known technical common sense in the field of automatic control, and will not be described one by one here;

[0073] Step 39, solve the optimal feedback control quantity equation group to calculate the corresponding feedback control quantity a backward .

[0074] Here, the known matrices A and B in the state quantity prediction equation and the known matrices Q and R in the minimum objective function J are substituted into the S equation to obtain the corresponding matrix S. Then, the obtained matrix S and the known matrices A, B, and R are substituted into the K equation to obtain the corresponding matrix K. The obtained matrix K and the known state quantity X are substituted into the K equation to obtain the corresponding matrix K. k Substitute a backward The corresponding feedback control quantity a can be obtained by the equation backward The feedback control amount a in the embodiment of the present invention backward It is actually the longitudinal acceleration compensation given for the longitudinal delay.

[0075] Step 4: The feedforward control quantity a forward and feedback control quantity a backward The predicted control amount a of the longitudinal acceleration is generated by adding them together; and the predicted control amount a is modulated according to a preset acceleration constraint range;

[0076] Among them, the longitudinal acceleration control amount a k+1 For: a=a forward +a backward .

[0077] Here, the acceleration constraint range of the embodiment of the present invention is a preset longitudinal acceleration threshold range. The predicted control amount a in the current step is modulated according to the preset acceleration constraint range, specifically: if the predicted control amount a is lower than the minimum value of the acceleration constraint range, the predicted control amount a is set to the minimum value of the acceleration constraint range; if the predicted control amount a is higher than the maximum value of the acceleration constraint range, the predicted control amount a is set to the maximum value of the acceleration constraint range.

[0078] Figure 2 This is a schematic diagram of the structure of an electronic device provided in the second embodiment of the present invention. The electronic device may be the aforementioned terminal device or server, or may be a terminal device or server connected to the aforementioned terminal device or server to implement the method of the embodiment of the present invention. Figure 2As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303. Various instructions may be stored in the memory 302 to complete various processing functions and implement the processing steps described in the aforementioned method embodiment. Preferably, the electronic device involved in the embodiment of the present invention also includes: a power supply 304, a system bus 305 and a communication port 306. The system bus 305 is used to realize the communication connection between components. The above-mentioned communication port 306 is used for connecting and communicating between the electronic device and other peripherals.

[0079] exist Figure 2 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory (Non-Volatile Memory), such as at least one disk storage.

[0080] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0081] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the method and processing process provided in the above embodiments.

[0082] An embodiment of the present invention further provides a chip for executing instructions, wherein the chip is used to execute the processing steps described in the aforementioned method embodiment.

[0083] The embodiment of the present invention provides a method for predicting longitudinal acceleration, an electronic device and a computer-readable storage medium. First, the longitudinal acceleration feedforward control amount a is queried from the planned trajectory according to the current feedback time and the known delay parameter. forward ; Then, the longitudinal speed deviation between the current feedback speed and the starting speed of the planned trajectory, the longitudinal positioning deviation between the current feedback coordinates and the starting coordinates of the planned trajectory, the longitudinal positioning deviation integral of the longitudinal positioning deviation from the starting time of the planned trajectory to the current feedback time, and the longitudinal acceleration control quantity estimated by the current feedback longitudinal acceleration according to the first-order inertia link transfer function G(s) constitute the corresponding current state quantity; Then, the expression of the predicted state quantity is obtained according to the known state quantity prediction equation; Then, the minimum objective function J is set according to the optimal control theory, and the Riccati equation of the minimum objective function J is obtained according to the second method of Lyapunov, and the optimal feedback control quantity equation group of the vehicle is obtained according to the optimal control theory, the minimum objective function J and the Riccati equation of the minimum objective function J; and the feedback control quantity a of the longitudinal acceleration is obtained by solving the optimal feedback control quantity equation group. backward ; Then the feedforward control quantity a forward and the feedback control quantity a backward The predicted control amount of the longitudinal acceleration is obtained by adding them together, and the predicted control amount is modulated based on the preset acceleration constraint range. Through the present invention, the control module takes the delay characteristics of the vehicle into consideration when performing longitudinal control, eliminating the problems of lag and overshoot caused by longitudinal delay, and improving the vehicle's riding comfort and obstacle avoidance accuracy.

[0084] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0085] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0086] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for predicting longitudinal acceleration, characterized in that: The method comprises: Obtaining a first feedback information group and a corresponding first planning trajectory; The feedforward control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate the corresponding feedforward control amount a forward ; According to the first feedback information group and the first planned trajectory, the feedback control amount of the longitudinal acceleration is predicted to generate the corresponding feedback control amount a backward ; The feedforward control quantity a forward and the feedback control amount a backward The predicted control amount a of the longitudinal acceleration is generated by adding the predicted control amount a; and the predicted control amount a is modulated according to the preset acceleration constraint range; wherein the predicted control amount a of the longitudinal acceleration is: a=a forward +a backward ; The first planned trajectory includes a plurality of first trajectory points N i ; The first trajectory point N i Including the first time i , the first coordinate p i , the first longitudinal acceleration a i and the first longitudinal velocity v i , i≥1; the first first trajectory point N of the first planned trajectory i The first time t i , the first coordinate p i and the first longitudinal velocity v i are recorded as the corresponding starting time t0, starting coordinates p0 and starting longitudinal velocity v0; The first feedback information group includes feedback time t b,k , feedback coordinate p b,k , Feedback longitudinal acceleration a b,k and feedback longitudinal velocity v b,k ; The feedback control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate the corresponding feedback control amount a backward , specifically including: Step 41, according to the feedback longitudinal velocity v b,k and the initial longitudinal velocity v0 to determine the corresponding longitudinal velocity deviation e v,k For: e v,k =v b,k -v0; and the longitudinal speed deviation e according to the preset first threshold range; v,k Modulation: If the longitudinal velocity deviation e v,k If the longitudinal speed deviation e is lower than the minimum value of the first threshold range, v,k is set to the minimum value of the first threshold range, if the longitudinal speed deviation e v,k If the maximum value of the first threshold range is higher than the maximum value of the first threshold range, the longitudinal speed deviation e v,k is set to the maximum value of the first threshold range; Step 42: according to the feedback coordinate p b,k and the starting coordinate p0 to determine the corresponding longitudinal positioning deviation e p,k For: (p b,k -p0) driving direction component; and the longitudinal positioning deviation e according to the preset second threshold range p,k Modulation: If the longitudinal positioning deviation e p,k If the minimum value of the second threshold range is lower than the minimum value of the second threshold range, the longitudinal positioning deviation e p,k is set to the minimum value of the second threshold range, if the longitudinal positioning deviation e p,k If the maximum value of the second threshold range is higher than the maximum value of the second threshold range, the longitudinal positioning deviation e p,k is set to the maximum value of the second threshold range; Step 43: calculate the time from the start time t0 to the feedback time t b,k The longitudinal positioning deviation is integrated over time to obtain the corresponding longitudinal positioning deviation integral e pI,k for: The longitudinal positioning deviation integral e is calculated according to a preset third threshold range. pI,k Modulation: If the longitudinal positioning deviation integral e pI,k If the value is lower than the minimum value of the third threshold range, the longitudinal positioning deviation integral e pI,k is set to the minimum value of the third threshold range, if the longitudinal positioning deviation integral e pI,k If the maximum value of the third threshold range is higher than the maximum value of the third threshold range, the longitudinal positioning deviation integral e pI,k is set to the maximum value of the third threshold range; Step 44: according to the feedback longitudinal acceleration a b,k , the preset first-order inertia link time coefficient τ and the preset first-order inertia link transfer function, estimate the corresponding longitudinal acceleration control amount a c,k For: a c,k =(τ·s+1)·a b,k ; The first-order inertia link transfer function G(s) is: s is the Laplace operator of the first-order inertia link transfer function; Step 45, based on the longitudinal velocity deviation e v,k , the longitudinal positioning deviation e p,k , the longitudinal positioning deviation integral e pI,k and the longitudinal acceleration control amount a c,k The corresponding state quantity X k [e pI,k ,e p,k ,e v,k ,a c,k ]; Step 46: set the feedback time t b,k With the preset pure hysteresis delay parameter t delay The sum of is the corresponding prediction time t k+1 , t k+1 =t b,k +t delay ; and will be from the feedback time t b,k To the predicted time t k+1 The state quantity prediction equation is set as: X k+1 =AX k +Ba c,k +C, Among them, matrices A, B, and C are: Step 47, according to the optimal control theory, the minimum objective function J is set to: Among them, Δa c,k→k+1 is the feedback time t b,k To the predicted time t k+1 The longitudinal acceleration change, the matrix Q is a preset 4*4 order positive definite matrix or semi-positive definite matrix, and the matrix R is a preset 1*1 order positive definite matrix; Step 48, according to the state quantity prediction equation and the minimum objective function J, the optimal feedback control quantity equation group is set as: a backward =-K·X k , K=(B T SB+R) -1 B T IN, S=A T USA T SB(B T SB+R) -1 B T SA+Q; Step 49, solving the optimal feedback control quantity equation group to calculate the corresponding feedback control quantity a backward .

2. The method for predicting longitudinal acceleration according to claim 1, characterized in that: The feedforward control amount of the longitudinal acceleration is predicted according to the first feedback information group and the first planned trajectory to generate a corresponding feedforward control amount a forward , specifically including: Step 31: according to the preset track point interval period T n , preset pure lag delay parameter t delay , the feedback time t b,k The trajectory point index j corresponding to the starting time t0 is calculated as: int() is the rounding up function; Step 32: match the first trajectory point N with the trajectory point index i in the first planned trajectory and the trajectory point index j. i＝j The first longitudinal acceleration a i＝j As the corresponding feedforward control amount a forward .

3. The method for predicting longitudinal acceleration according to claim 1, characterized in that: The step of modulating the predicted control amount a according to a preset acceleration constraint range specifically includes: If the predicted control amount a is lower than the minimum value of the acceleration constraint range, the predicted control amount a is set to the minimum value of the acceleration constraint range; if the predicted control amount a is higher than the maximum value of the acceleration constraint range, the predicted control amount a is set to the maximum value of the acceleration constraint range.

4. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is used to couple with the memory, read and execute instructions in the memory, so as to implement the method according to any one of claims 1 to 3; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a computer, the computer is enabled to execute the method according to any one of claims 1 to 3.

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