CN106541941B - Automatic Pilot speed control system and method based on high-precision navigation positioning system - Google Patents

Automatic Pilot speed control system and method based on high-precision navigation positioning system Download PDF

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Publication number
CN106541941B
CN106541941B CN201610910254.6A CN201610910254A CN106541941B CN 106541941 B CN106541941 B CN 106541941B CN 201610910254 A CN201610910254 A CN 201610910254A CN 106541941 B CN106541941 B CN 106541941B
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vehicle speed
engine
speed
target vehicle
torque
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CN106541941A (en
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冯春
方强
李凯
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0014—Adaptive controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention relates to automatic Pilot technical fields, and in particular to a kind of automatic Pilot speed control system and method based on high-precision navigation positioning system.Obtain the road relevant information stored in the high-precision map of current road segment, the road relevant information stored in the high-precision map of the current road segment is merged with vehicle running state information, calculate the target vehicle speed suitable for automatic Pilot, the target vehicle speed is compared with current vehicle speed, when the target vehicle speed is more than or less than current vehicle speed, engine enable signal and engine torque request instruction are sent to engine controller, the engine controller instructs corresponding adjusting engine torque according to engine torque request, and current vehicle speed is made to be equal to target vehicle speed.It controls dynamical system in advance and braking system takes measures, correct speed in time, effectively solve the problems, such as speed control not in time.And Brake lamp is lighted under emergency situation, it reminds front vehicle to pay attention to regulation speed, avoids knocking into the back.

Description

Automatic Pilot speed control system and method based on high-precision navigation positioning system
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of automatic Pilot based on high-precision navigation positioning system Speed control system and method.
Background technique
Automatic driving technology has been passed by the development courses of decades by now from rudiment.It is travelled on level road, Identification by sensors such as laser radar, millimetre-wave radar, cameras to road can preferably realize automatic Pilot function Energy.Since the sensor can not identify ramp, and to beyond distance (300 meters) under the extreme weathers such as rain, snow, mist Road markings not can be carried out effective identification, and hypotelorism when driver being caused to find, speed cannot be adjusted in time, be easy Existing traffic accident, seriously affects vehicle, member, property and pedestrian's life security, while also generating to the comfort of automatic Pilot It influences.
Summary of the invention
In order to solve the above technical problems, road conditions can be obtained in advance the present invention provides a kind of, and according to road conditions The automatic Pilot speed control system and method based on high-precision navigation positioning system that current vehicle speed is modified.
A kind of technical solution of the automatic Pilot method for control speed based on high-precision navigation positioning system of the present invention is to obtain The road relevant information stored in the high-precision map of current road segment believes the road correlation stored in the high-precision map of the current road segment Breath merged with vehicle running state information, calculate the target vehicle speed suitable for automatic Pilot, by the target vehicle speed with work as Preceding speed is compared, and when the target vehicle speed is more than or less than current vehicle speed, sending engine to engine controller makes Energy signal and engine torque request instruction, the engine controller instruct corresponding adjust to start according to engine torque request Machine torque makes current vehicle speed be equal to target vehicle speed.
Further, when the target vehicle speed is less than current vehicle speed, the engine torque request instruction is turned round to reduce Square requirement command, engine is instructed according to the reduction torque demand reduces output torque, until current vehicle speed is equal to target carriage Speed；
When the target vehicle speed is greater than current vehicle speed, the engine torque request instruction refers to increase torque demand It enables, engine is instructed according to the increase torque demand increases output torque, until current vehicle speed is equal to target vehicle speed.
Further, during the engine is instructed according to the reduction torque demand reduces output torque, if Braking deceleration is greater than calibration value, then sends braking system enable signal and braking torque request signal, braking to braking system Controller adjusts braking torque output according to the braking torque request signal.
Further, when sending braking system enable signal and braking torque request signal to the braking system, to vehicle Body controller issues Brake lamp open command signal, is simultaneously emitted by danger alarm lamp control command and loudspeaker control command.
Further, the road relevant information stored in the high-precision map of the current road segment includes but is not limited to: front road The outer lower long slope in 300 meters of road, Shang Changpo, road and traffic sign plates information, this lane Maximum speed limit or minimum speed-limiting messages.
A kind of technical solution of the automatic Pilot speed control system based on high-precision navigation positioning system of the present invention is to wrap It includes:
High-precision navigation positioning system: it for obtaining the road relevant information stored in the high-precision map of current road segment, and sends To auto-pilot controller；
Auto-pilot controller: road relevant information and vehicle row for will be stored in the high-precision map of the current road segment It sails status information to be merged, calculates the target vehicle speed suitable for automatic Pilot, the target vehicle speed and current vehicle speed are carried out It compares, when the target vehicle speed is more than or less than current vehicle speed, sends engine enable signal and hair to engine controller The instruction of motivation torque request；
Engine controller: for receiving the engine enable signal and engine torsion that the auto-pilot controller is sent Square request instruction, and instructed according to the engine torque request and adjust engine output torque；
Engine: for adjusting output torque according to the control instruction of the engine controller, vehicle speed variation is realized.
It further, further include brake monitor, the brake monitor is used to reduce output torque and system in engine When dynamic deceleration is greater than calibration value, the braking system enable signal and braking torque request signal sent according to braking system is adjusted Braking torque output.
It further, further include car body controller, the car body controller is used to receive auto-pilot controller transmission Brake lamp open command, danger alarm lamp control command and loudspeaker control command.
Beneficial effects of the present invention: this system, which is based on high-precision navigation positioning system, can export road information ramp, accurate Vehicle is calculated at a distance from junction ahead, is interconnected by high-precision navigation positioning system with automated driving system, by should Distance and the gradient are sent to auto-pilot controller in advance.Automated driving system can control in advance according to the traffic information of acquisition Dynamical system and braking system take measures, and correct speed in time, effectively solve the problems, such as speed control not in time.And critical In the case of light Brake lamp, remind front vehicle to pay attention to regulation speed, avoid knocking into the back.
Detailed description of the invention
Fig. 1 is module connection figure of the invention；
Fig. 2 is control flow chart of the present invention.
Specific embodiment
Below by way of specific embodiment, the present invention is described in further detail:
As shown in Figure 1, the invention mainly comprises high-precision navigation positioning system, auto-pilot controller, engine controller, Engine, brake monitor and car body controller.High-precision navigation positioning system obtains remote information, and the system further includes obtaining Take the millimetre-wave radar and camera of short distance information.Wherein auto-pilot controller and engine controller, brake monitor It is communicated with car body controller by CAN bus.
As shown in Fig. 2, control process of the invention is as follows:
Road ahead 300 meters of outer lower long slopes, the Shang Changpo for the present road that high-precision navigation positioning system will acquire
Ramp information, the highest in this lane limit stored in equal road and traffic sign plates information, the high-precision map of current road segment Speed/minimum speed-limiting messages etc. are sent to auto-pilot controller by Ethernet.Auto-pilot controller is receiving high-precision navigation Positioning system send road relevant information when, while receive vehicle sensors transmission vehicle running state information (such as speed, Wheel speed), the road relevant information stored in the high-precision map of current road segment is merged with vehicle running state information, is planned, Decision calculates target velocity, and target carriage speed is reached the time, and compares with current vehicle speed.
When target vehicle speed is identical as current vehicle speed, do not deal with.
When target vehicle speed is less than current vehicle speed (usually in descending section), auto-pilot controller is sent out to engine controller Engine enable signal and engine torque request is sent to instruct, engine torque request instruction passes through virtual accelerator pedal signal It realizes, until reducing the torque demand of engine controller until being 0.Engine torque request is instructed according to the universal of engine Characteristic and external characteristic curve calculate.In the process, if braking deceleration a=(current vehicle speed-target vehicle speed)/target Speed reaches the time greater than a certain calibration value, then determines to need to start braking system.Auto-pilot controller is sent out to braking system Braking system enable signal and braking torque request signal out, the braking torque desired signal are with reference to master cylinder pressure and system The relationship of power determines, range is from 0 to maximum braking torque (product of brake force and wheel hub coefficient of friction and tire radius).System Movement controller adjusts the output of its braking torque after receiving the signal, and control braking system executes braking.Auto-pilot controller exists Need braking system Brake lamp open command signal is issued to car body controller, be simultaneously emitted by danger when reducing car speed Alarm lamp control command, loudspeaker control command, car body controller light related car light according to auto-pilot controller instruction.
When target vehicle speed is greater than current vehicle speed (usually in uphill way), auto-pilot controller is sent out to engine controller Engine enable signal and engine torque request is sent to instruct, engine controller increases the torque output of engine, (most very much not More than engine current rotating speed external characteristics maximum torque), until target vehicle speed is equal to current vehicle speed.
The above description is merely a specific embodiment, it is noted that anyone skilled in the art exists Disclosed herein technical scope in, any changes or substitutions that can be easily thought of, should all cover protection scope of the present invention it It is interior.

Claims (5)

1. a kind of automatic Pilot method for control speed based on high-precision navigation positioning system, it is characterised in that: obtain current road segment The road relevant information stored in high-precision map, the road relevant information and vehicle that will be stored in the high-precision map of the current road segment Running condition information is merged, and determines the target vehicle speed for being suitable for automatic Pilot, and the target vehicle speed and current vehicle speed are carried out It compares, when the target vehicle speed is more than or less than current vehicle speed, sends engine enable signal and hair to engine controller The instruction of motivation torque request, the engine controller instruct corresponding adjusting engine torque according to engine torque request, make Current vehicle speed is equal to target vehicle speed；
When the target vehicle speed is less than current vehicle speed, the engine torque request instruction instructs to reduce torque demand, hair Motivation is instructed according to the reduction torque demand reduces output torque, until current vehicle speed is equal to target vehicle speed；
When the target vehicle speed is greater than current vehicle speed, the engine torque request instruction instructs to increase torque demand, hair Motivation is instructed according to the increase torque demand increases output torque, until current vehicle speed is equal to target vehicle speed；
During the engine is instructed according to the reduction torque demand reduces output torque, if braking deceleration is greater than Calibration value then sends braking system enable signal and braking torque request signal to braking system, and brake monitor is according to Braking torque request signal adjusts braking torque output.
2. as described in claim 1 based on the automatic Pilot method for control speed of high-precision navigation positioning system, it is characterised in that: When sending braking system enable signal and braking torque request signal to the braking system, Brake lamp is issued to car body controller Open command signal is simultaneously emitted by danger alarm lamp control command and loudspeaker control command.
3. as described in claim 1 based on the automatic Pilot method for control speed of high-precision navigation positioning system, which is characterized in that The road relevant information stored in the high-precision map of current road segment includes: 300 meters of outer lower long slopes, Shang Changpo, roads of road ahead Road traffic mark board information, this lane Maximum speed limit or minimum speed-limiting messages.
4. a kind of automatic Pilot speed control system based on high-precision navigation positioning system characterized by comprising
High-precision navigation positioning system: it for obtaining the road relevant information stored in the high-precision map of current road segment, and is sent to certainly Dynamic driving controller；
Auto-pilot controller: road relevant information and vehicle driving shape for will be stored in the high-precision map of the current road segment State information is merged, and the target vehicle speed suitable for automatic Pilot is calculated, and the target vehicle speed is compared with current vehicle speed, When the target vehicle speed is more than or less than current vehicle speed, engine enable signal is sent to engine controller and engine is turned round Square request instruction；
Engine controller: engine enable signal and engine torque for receiving the auto-pilot controller transmission are asked Instruction is asked, and is instructed according to the engine torque request and adjusts engine output torque；
Engine: for adjusting output torque according to the control instruction of the engine controller, vehicle speed variation is realized；
It further include brake monitor, the brake monitor is used to reduce output torque in engine and braking deceleration is greater than mark When definite value, the braking system enable signal and braking torque request signal sent according to braking system adjusts braking torque output.
5. as claimed in claim 4 based on the automatic Pilot speed control system of high-precision navigation positioning system, it is characterised in that: It further include car body controller, the car body controller is used to receive the Brake lamp open command of auto-pilot controller transmission, danger Dangerous alarm lamp control command and loudspeaker control command.
CN201610910254.6A 2016-10-19 2016-10-19 Automatic Pilot speed control system and method based on high-precision navigation positioning system Active CN106541941B (en)

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CN108521800A (en) * 2017-09-29 2018-09-11 深圳市大疆创新科技有限公司 Control method, control terminal and the machine readable storage medium of automatic driving vehicle
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CN108121346A (en) * 2017-12-20 2018-06-05 东风汽车集团有限公司 A kind of automatic Pilot heading control loop and method based on high-precision navigation positioning system
KR102049923B1 (en) 2018-08-27 2019-11-28 현대모비스 주식회사 Apparatus for controlling motor driven power steering system
CN109532845B (en) * 2018-12-21 2020-12-01 奇瑞汽车股份有限公司 Control method and device of intelligent automobile and storage medium
CN110816545B (en) * 2019-11-21 2021-05-18 一汽解放汽车有限公司 Vehicle speed control method and device, vehicle and storage medium
CN111398988A (en) * 2020-02-20 2020-07-10 重庆邮电大学 Integrated intelligent networked automobile automatic driving domain controller system
CN113911098B (en) * 2021-11-25 2024-01-23 中国重汽集团济南动力有限公司 HDC high-precision vehicle speed control method and system combined with cruise control

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