Calibration method and system of vehicle longitudinal controller, medium and product
By generating a set of throttle and brake control parameters and combining them with a parameter tuning model, the problems of manual dependence and uncertainty in the calibration process of vehicle longitudinal controllers are solved, realizing a fast and universal calibration method and improving calibration efficiency and accuracy.
Patent Information
- Application Number
- CN202511789422.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-01
- Publication Date
- 2026-01-16
AI Technical Summary
In existing technologies, the calibration process of vehicle longitudinal controllers relies on manual operation, resulting in high uncertainty and long time consumption, making it difficult to adapt to different brands and models.
By generating a set of throttle and brake control parameters, based on speed and gradient sequences, and combining parameter tuning models and expert experience, the throttle and brake control parameters are automatically tuned, achieving a fast and universal calibration process.
It reduces reliance on the experience of calibration personnel, improves calibration efficiency and accuracy, adapts to different vehicle operating conditions, and reduces calibration time.
Smart Images
Figure CN121348916A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automatic control, and more specifically, to calibration methods, systems, media, and products for vehicle longitudinal controllers. Background Technology
[0002] The longitudinal controller of a vehicle is typically used for acceleration and deceleration control along a straight line. In order to make the longitudinal controller compatible with different brands and models of vehicles, it needs to be calibrated after it is installed in the vehicle so that the vehicle can provide the desired driving characteristics.
[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0004] To address or at least alleviate one or more of the above problems, the following technical solution is provided. This application provides a calibration method for a vehicle longitudinal controller, which enables a universal and rapid calibration process for calibrating the longitudinal controller, avoids the uncertainty of manual calibration results, and greatly reduces the calibration time of the longitudinal controller.
[0005] According to a first aspect of this application, a calibration method for a vehicle longitudinal controller is provided, the method comprising: step 102: generating a throttle control parameter set and a braking control parameter set based on a speed sequence and a slope sequence; step 104: setting a parameter tuning model for a vehicle motion scenario; and step 106: under the calibration conditions of the motion scenario, determining the parameters to be tuned in the throttle control parameter set and / or the braking control parameter set through the parameter tuning model, and tuning the parameters.
[0006] As an alternative or supplement to the above solutions, in a method according to an embodiment of this application, the throttle control parameter set includes throttle proportional parameters, throttle integral parameters, and throttle differential parameters, and the braking control parameter set includes braking proportional parameters, braking integral parameters, and braking differential parameters.
[0007] As an alternative or supplement to the above solutions, in a method according to an embodiment of this application, the motion scenario includes an acceleration scenario, a steady-speed scenario, and a deceleration scenario.
[0008] As an alternative or supplement to the above solutions, in a method according to an embodiment of this application, the parameter tuning model determines the parameters to be tuned in the throttle control parameter set and / or the brake control parameter set based on the current motion scenario and the magnitude, direction, and trend of the speed deviation between the vehicle's actual speed and the target speed.
[0009] As an alternative or supplement to the above solution, in a method according to an embodiment of this application, the throttle control parameter set further includes throttle feedforward compensation parameters, which indicate the throttle pedal opening required to achieve the target vehicle speed in the speed sequence at the target slope in the slope sequence.
[0010] As an alternative or supplement to the above solution, in a method according to an embodiment of this application, step 106 includes: step 202, recording the accelerator pedal opening of the vehicle at each target speed in the speed sequence at each target slope in the slope sequence to generate accelerator feedforward compensation parameters; step 204: under acceleration / deceleration calibration conditions, determining the parameters to be tuned in the accelerator control parameter set or the brake control parameter set through the parameter tuning model and tuning the parameters; and step 206: under steady speed calibration conditions, determining the parameters to be tuned in the accelerator control parameter set through the parameter tuning model and tuning the parameters.
[0011] As an alternative or supplement to the above solutions, in a method according to an embodiment of this application, the parameter tuning model is set based on expert experience and the proportional-integral-derivative (PID) principle.
[0012] According to a second aspect of this application, a calibration system for a vehicle longitudinal controller is provided, the system comprising: a processor; a memory; and a computer program stored in the memory and executable on the processor, the execution of the computer program causing any of the methods described according to a first aspect of this application to be performed.
[0013] According to a third aspect of this application, a computer storage medium is provided, the computer storage medium including instructions that, when executed, perform any of the methods described according to a first aspect of this application.
[0014] According to a fourth aspect of this application, a computer program product is provided, the computer program product comprising instructions that, when executed, perform any of the methods described according to a first aspect of this application.
[0015] The vehicle longitudinal controller calibration method according to one or more embodiments of this application can meet various complex calibration conditions of vehicles through a universal, convenient and fast calibration process. The method can also achieve parameter tuning of the controller under different speed ranges and different gradient ranges, thereby reducing the experience and skill requirements of calibration personnel. Attached Figure Description
[0016] The above and / or other aspects and advantages of this application will become clearer and more readily understood from the following description taken in conjunction with the accompanying drawings, in which the same or similar elements are denoted by the same reference numerals. In the drawings: Figure 1 This is a flowchart of a vehicle longitudinal controller calibration method 100 according to an embodiment of this application; Figure 2 This is a flowchart of a process 200 for tuning controller parameters according to an embodiment of this application; Figure 3 This is a schematic diagram of parameters determined by a parameter tuning model for different working conditions according to an embodiment of this application; Figure 4A This is a schematic diagram of the acceleration / deceleration calibration conditions according to an embodiment of this application; Figure 4B This is a schematic diagram of the steady-speed calibration condition according to an embodiment of this application; and Figure 5 This is a block diagram of a calibration system 500 for a vehicle longitudinal controller according to an embodiment of this application. Detailed Implementation
[0017] The following detailed description is merely exemplary in nature and is not intended to limit the disclosed technology or its application and use. Furthermore, it is not intended to be bound by any express or implied theory presented in the foregoing technical fields, background art, or the following detailed description.
[0018] In the following detailed description of the embodiments, numerous specific details are set forth in order to provide a more thorough understanding of the disclosed technology. However, it will be apparent to those skilled in the art that the disclosed technology can be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.
[0019] Terms such as "possessing" and "comprising" indicate that, in addition to the units (modules) and steps directly and explicitly stated in the specification and claims, the technical solution of this application does not exclude the presence of other units (modules) and steps not directly or explicitly stated. Terms such as "first" and "second" do not indicate the order of the units in terms of time, space, size, etc., but are merely used to distinguish the units. Furthermore, the steps in this document are not limited to being performed in the order they are written; a step written later may be performed simultaneously with or before a step written earlier.
[0020] After the longitudinal controller is installed on the test vehicle, its control parameters need to be calibrated so that the controller can determine the desired acceleration based on the opening of the accelerator and brake pedals. Furthermore, parameter tuning is required to ensure the vehicle achieves actual acceleration close to the desired acceleration under various operating conditions. Conventional calibration (and subsequent tuning) relies on manual operation by calibration personnel and the dynamic model of the test vehicle, demanding high levels of skill and experience from the calibration personnel. Moreover, manual calibration results are uncertain and time-consuming. Therefore, a universal, efficient, and accurate calibration method is desired to improve the efficiency of longitudinal controller calibration.
[0021] Various embodiments of this application will be described in more detail below with reference to the accompanying drawings. Figure 1 This is a flowchart of a vehicle longitudinal controller calibration method 100 according to an embodiment of this application. In step 102, a throttle control parameter set and a braking control parameter set are generated based on the speed sequence and the slope sequence. Specifically, in order to calibrate and tune the parameters for different speed and slope intervals, it is first necessary to establish a speed sequence (SpeedList) and a slope sequence (SlopeList), and use them as rows and columns of a matrix to establish the corresponding throttle control parameter set and braking control parameter set, respectively. In some embodiments, the determination of the speed sequence is related to the maximum speed that the vehicle can reach, and the determination of the slope sequence is related to the vehicle type. For example, the slope sequence of an off-road vehicle may include more and larger target slopes than the slope sequence of a sedan.
[0022] For example, the speed sequence can include 8 speed values {0, 5, 10, 15, 25, 35, 45, 60}, and the gradient sequence can include 9 gradient values {-40, -20, -16, -7, 0, 7, 16, 20, 40}, where negative gradient values represent downhill and positive gradient values represent uphill. Then, based on the speed and gradient sequences, a throttle control parameter set Acc and a braking control parameter set Brk corresponding to these sequences can be defined. In some embodiments, the throttle control parameter set includes a throttle proportional parameter Pa, a throttle integral parameter Ia, and a throttle differential parameter Da, and the braking control parameter set Brk includes a braking proportional parameter Pb, a braking integral parameter Ib, and a braking differential parameter Db, all of which are 8×9 matrices. These parameters are then initialized to generate an initialized parameter calibration table.
[0023] In some embodiments, the throttle control parameter set Acc also includes a throttle feedforward compensation parameter Ba (which is also an 8×9 matrix), which indicates the throttle pedal opening required to achieve a target vehicle speed in the speed sequence at a target gradient in the gradient sequence.
[0024] Then, in step 104, a parameter tuning model is set for the vehicle's motion scenario. In some embodiments, the vehicle's motion scenario can be divided into acceleration, deceleration, and steady-state scenarios based on the vehicle's longitudinal motion state. These scenarios can serve as the basis for determining calibration conditions. In some embodiments, the parameter tuning model can determine the parameters to be tuned in the throttle control parameter set and / or brake control parameter set, and how to adjust these parameters, based on the current motion scenario and the magnitude, direction, and trend of the speed deviation between the vehicle's actual speed and target speed, which will be further described below. Furthermore, the parameter tuning model can also be set based on expert experience and the proportional-integral-differential principle.
[0025] Next, in step 106, under the calibration conditions of the motion scenario, the parameters to be tuned in the throttle control parameter set and / or the brake control parameter set are determined by the parameter tuning model, and the parameters are tuned.
[0026] In some embodiments, Figure 1 Step 106 can be further divided into three sub-steps. (See reference) Figure 2 , Figure 2 This is a flowchart of a process 200 for tuning controller parameters (e.g., step 106) according to an embodiment of this application.
[0027] In step 202, at each target slope in the slope sequence, the throttle pedal opening at each target speed in the speed sequence is recorded to generate throttle feedforward compensation parameters. Step 202 aims to establish a mapping relationship between the throttle opening at each slope and each target speed in the speed sequence.
[0028] After the automatic calibration of the throttle feedforward compensation parameters is completed in step 202, in step 204, under the acceleration / deceleration calibration conditions, the parameters to be tuned in the throttle control parameter set or the brake control parameter set are determined by the parameter tuning model, and the parameters are tuned.
[0029] In some embodiments, a first calibration execution condition can be defined for both acceleration and deceleration scenarios. (See reference...) Figure 4A , Figure 4A This is a schematic diagram of acceleration / deceleration calibration conditions according to an embodiment of this application. Figure 4AAs illustrated, under acceleration / deceleration calibration conditions (e.g., a gradient of 0 degrees), by controlling the accelerator pedal (e.g., the accelerator opening at the corresponding target speed determined in step 202) and the brake pedal, the vehicle speed changes according to the following pattern: from 0 to 20 km / h and then to 0 km / h; from 0 to 30 km / h and then to 0 km / h; from 0 to 40 km / h and then to 0 km / h; from 0 to 50 km / h and then to 0 km / h; from 0 to 60 km / h and then to 0 km / h, and so on. Figure 4A Each acceleration process can be used to determine the throttle control parameters to be calibrated at the target speed for the corresponding gradient, and Figure 4A Each deceleration process can be used to determine the braking control parameters to be calibrated at the target speed for the corresponding gradient.
[0030] It should be understood that Figure 4A The diagram only shows five peaks of velocity variation at each gradient, but in other embodiments, the acceleration / deceleration calibration conditions may include more peaks (e.g., eight peaks), depending on the velocity sequence in the parameter calibration table. Furthermore, at each gradient in the gradient sequence, it is necessary to enter a state such as... Figure 4A The diagram shows the acceleration / deceleration calibration conditions.
[0031] As an example, see Figure 3 , Figure 3 This is a schematic diagram of parameters determined by a parameter tuning model for different operating conditions according to an embodiment of this application. Figure 3 The upper part of the diagram illustrates some deviations between actual and target speeds under acceleration / deceleration calibration conditions, and the parameters to be tuned for these deviations. Figure 3 In the diagram, during acceleration / deceleration, the desired target speed of the vehicle changes as shown by the dashed line. However, the actual speed of the vehicle may change as shown by the solid line. Specifically, in the case of excessive acceleration, the parameter tuning model can determine that the parameters to be tuned are Pa and Ia. Furthermore, Pa and Ia need to be gradually decreased until the difference between the actual speed and the target speed is less than a threshold. Conversely, in the case of slow acceleration, the parameters to be tuned are also Pa and Ia, but they need to be gradually increased. In the case of speed overshoot during acceleration, the determined parameters to be tuned can be Pa and Da. On the other hand, as... Figure 3 As shown in the diagram, during deceleration, if the deceleration is too fast or too slow, the braking parameters Pb and Ib need to be adjusted in different directions until the difference between the actual speed and the target speed is less than the threshold.
[0032] return Figure 2In step 206, under the steady-speed calibration condition, the parameters to be tuned in the throttle control parameter set are determined through the parameter tuning model, and these parameters are tuned. (Reference) Figure 4B , Figure 4B This is a schematic diagram of the steady-speed calibration condition according to an embodiment of this application. Since prior to step 206, as shown in... Figure 4A The acceleration / deceleration calibration conditions illustrated in the diagram have completed the parameter tuning for the acceleration / deceleration process. Therefore, in the steady-speed calibration conditions, the focus can be more on the vehicle's performance at various speeds. In the steady-speed calibration conditions, by controlling the accelerator and brake pedals, the vehicle's speed is varied according to the following patterns: increasing from 0 to 20 km / h, maintaining this speed for a period, and then decreasing it back to 0 km / h; increasing from 0 to 30 km / h, maintaining this speed for a period, and then decreasing it back to 0 km / h; increasing from 0 to 40 km / h, maintaining this speed for a period, and then decreasing it back to 0 km / h; increasing from 0 to 50 km / h, maintaining this speed for a period, and then decreasing it back to 0 km / h; increasing from 0 to 60 km / h, maintaining this speed for a period, and then decreasing it back to 0 km / h, and so on.
[0033] It should be understood that Figure 4B The diagram only shows five peaks of velocity variation at each gradient, but in other embodiments, the acceleration / deceleration calibration conditions may include more peaks (e.g., eight peaks), depending on the velocity sequence in the parameter calibration table. Furthermore, at each gradient in the gradient sequence, it is necessary to enter a state such as... Figure 4B The acceleration / deceleration calibration conditions shown in the diagram are used to complete the tuning of the parameters in the entire parameter calibration table (e.g., an 8×9 matrix).
[0034] As an example, refer again Figure 3 , Figure 3 The lower half of the diagram illustrates some deviations between actual and target speeds under steady-speed calibration conditions, and the parameters to be tuned for these situations. If, under stable vehicle speed conditions, speeds are found to be too high or too low, the parameter to be tuned is the throttle feedforward compensation parameter Ba, which needs to be gradually decreased or increased in the corresponding direction. Furthermore, if wavy speed fluctuations occur (potentially exceeding or falling below the target speed), the throttle feedforward compensation parameter Ba and the throttle integral parameter Ia can be used as the parameters to be tuned, and they should be gradually decreased or increased in the corresponding direction. Additionally, if sawtooth-shaped speed fluctuations occur, the parameters to be tuned include Ba, Pa, and Ia.
[0035] Based on PID principles and expert experience, the parameter tuning model can determine the parameters to be tuned and how to adjust them (increase or decrease, and by how much) based on the deviation between the vehicle's target speed and actual speed under various calibration conditions. Therefore, the parameter tuning model can tune the control parameters for each speed and gradient in both the throttle control parameter set and the brake control parameter set, and is not limited to specific vehicles or models, thus replacing the need for manual adjustments each time.
[0036] refer to Figure 5 , Figure 5 This is a block diagram of a vehicle longitudinal controller calibration system 500 according to an embodiment of this application. The calibration system 500 includes a processor 520, a memory 510, and a computer program 530, which is stored in the memory 510 and can run on the processor 520. The execution of the computer program 530 causes... Figure 1 The method 100 shown is executed.
[0037] Additionally, as described above, this application can also be implemented as a computer-readable storage medium storing information for causing a computer to perform, such as Figure 1 The instructions for method 100 shown. Here, computer-readable storage media can be various types of computer-readable storage media, such as disks (e.g., magnetic disks, optical disks, etc.), cards (e.g., memory cards, optical cards, etc.), semiconductor memory (e.g., ROM, non-volatile memory, etc.), and tapes (e.g., magnetic tapes, cassette tapes, etc.).
[0038] This application can also be implemented as a computer program product comprising instructions that cause a computer to perform, as Figure 1 Method 100 is shown.
[0039] Where applicable, the various embodiments provided in this application may be implemented using hardware, software, or a combination of hardware and software. Furthermore, where applicable, without departing from the scope of this application, the various hardware and / or software components described herein may be combined into composite components comprising software, hardware, and / or both. Where applicable, without departing from the scope of this application, the various hardware and / or software components described herein may be divided into sub-components comprising software, hardware, or both. Additionally, where applicable, it is contemplated that software components may be implemented as hardware components, and vice versa.
[0040] The software (such as program code and / or data) according to this application can be stored on one or more computer storage media. It is also contemplated that the software identified herein can be implemented using one or more networked and / or otherwise general-purpose or special-purpose computers and / or computer systems. Where applicable, the order of the various steps described herein can be changed, combined into compound steps, and / or divided into sub-steps to provide the features described herein.
[0041] The embodiments and examples presented herein are provided to best illustrate embodiments of this application and its particular applications, thereby enabling those skilled in the art to implement and use this application. However, those skilled in the art will understand that the above description and examples are provided for ease of illustration and example only. The descriptions presented are not intended to cover all aspects of this application or to limit this application to the precise forms disclosed.
Claims
1. A method of calibrating a vehicle longitudinal controller, characterized in that, The method comprises: Step 102: generating a throttle control parameter set and a brake control parameter set based on a speed sequence and a slope sequence; Step 104: setting a parameter tuning model for a motion scenario of the vehicle; and Step 106: determining, by the parameter tuning model, a parameter to be tuned in the throttle control parameter set and / or the brake control parameter set under a calibration condition of the motion scenario, and tuning the parameter.
2. The method of claim 1, wherein, The throttle control parameter set comprises a throttle proportional parameter, a throttle integral parameter and a throttle derivative parameter, and the brake control parameter set comprises a brake proportional parameter, a brake integral parameter and a brake derivative parameter.
3. The method of claim 1, wherein, The motion scenario comprises an acceleration scenario, a constant speed scenario and a deceleration scenario.
4. The method of claim 1, wherein, The parameter tuning model determines the parameter to be tuned in the throttle control parameter set and / or the brake control parameter set based on a current motion scenario and a size, a direction and a trend of a speed deviation between an actual speed and a target speed of the vehicle.
5. The method of claim 2, wherein, The throttle control parameter set further comprises a throttle feedforward compensation parameter, which indicates a throttle pedal opening degree required to achieve a target vehicle speed in the speed sequence under a target slope in the slope sequence.
6. The method of claim 5, wherein, Step 106 comprises: Step 202: recording a throttle pedal opening degree of the vehicle at each target speed in the speed sequence under each target slope in the slope sequence to generate a throttle feedforward compensation parameter; Step 204: determining, by the parameter tuning model, a parameter to be tuned in the throttle control parameter set or the brake control parameter set and tuning the parameter under an acceleration / deceleration calibration condition; and Step 206: determining, by the parameter tuning model, a parameter to be tuned in the throttle control parameter set and tuning the parameter under a constant speed calibration condition.
7. The method of claim 1, wherein, The parameter tuning model is set based on expert experience and proportional integral derivative principle.
8. A calibration system for a vehicle longitudinal controller, characterized by The system comprises a processor, a memory and a computer program stored on the memory and executable on the processor, and execution of the computer program causes the method of any one of claims 1-7 to be performed.
9. A computer storage medium, characterized in that The computer storage medium comprises instructions which, when executed, perform the method of any one of claims 1-7.
10. A computer program product, characterised in that, The computer program product comprises instructions which, when executed, perform the method of any one of claims 1-7.