CN111497859A

CN111497859A - Vehicle longitudinal control method combining weight parameter identification

Info

Publication number: CN111497859A
Application number: CN202010606905.9A
Authority: CN
Inventors: 马朋涛; 谢兼明; 张天雷
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-08-07
Anticipated expiration: 2040-06-30
Also published as: CN111497859B

Abstract

The embodiment of the invention provides a vehicle longitudinal control method combined with weight parameter identification, which comprises the following steps: acquiring actual parameters of a vehicle, target parameters of the vehicle and road parameters, wherein the actual parameters are parameters related to actual longitudinal running of the vehicle, the target parameters are parameters required to be reached by the vehicle, and the road parameters are parameters of a road on which the vehicle runs; estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters; determining control parameters for controlling the vehicle according to the total mass, the target parameters and the road parameters; the vehicle is controlled according to the control parameters. Therefore, whether the load of the vehicle changes or not, the total mass of the vehicle can be estimated through the actual parameters of the vehicle and the road parameters in combination with the longitudinal dynamics formula of the vehicle, and then more accurate control parameters can be obtained based on the estimated total mass of the vehicle, the target parameters and the road parameters, so that the vehicle is accurately controlled.

Description

Vehicle longitudinal control method combining weight parameter identification

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a longitudinal vehicle control method combining weight parameter identification.

Background

Unmanned means that the vehicle is automatically driven by a computer system of the vehicle. And the longitudinal control of the vehicle is taken as a key part of unmanned driving and is divided into model control and model-free control. For model control, relevant parameters of a vehicle and a road are input into a pre-established model, and the vehicle is controlled according to an output result of the model.

However, the mass of the default vehicle is not changed when the model is established. In practice, however, the load of the vehicle may vary, which in turn may cause the overall mass of the vehicle to vary. If the default unchanged vehicle mass in the model is still adopted for estimation, the estimation result of the model is inaccurate, and the accuracy of longitudinal control of the vehicle is further reduced.

Disclosure of Invention

In view of the above problems, an object of the embodiments of the present invention is to provide a longitudinal vehicle control method combined with weight parameter identification, which aims to accurately estimate the mass of a vehicle, and thus enable accurate vehicle control based on a model.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

in a first aspect, an embodiment of the present invention provides a vehicle longitudinal control method in combination with weight parameter identification, where the method includes: acquiring actual parameters of a vehicle, target parameters of the vehicle and road parameters, wherein the actual parameters are parameters related to actual longitudinal running of the vehicle, the target parameters are parameters which the vehicle needs to reach in the longitudinal running process, and the road parameters are parameters of a road on which the vehicle runs; estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters; determining a control parameter for controlling the vehicle according to the total mass, the target parameter and the road parameter; and controlling the vehicle according to the control parameter.

In other embodiments of the present invention, the actual parameters include: actual acceleration, engine torque, tire radius, driveline ratio; the road parameters include: road grade; the estimating of the total mass of the vehicle using a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters comprises: substituting the actual acceleration, the engine torque, the tire radius, the driveline gear ratio, and the road slope into the vehicle longitudinal dynamics equation; converting the unknown quantities in the vehicle longitudinal dynamics formula after the parameters are substituted into a matrix form, wherein the unknown quantities comprise: the total mass, air resistance term, and rolling resistance term; and estimating the total mass, the value of the air resistance item and the value of the rolling resistance item by adopting a least square method based on the vehicle longitudinal dynamics formula converted into a matrix form.

In other embodiments of the present invention, the actual parameters further include: actual position and actual speed; the target parameters include: target position, target velocity, and target acceleration; the acquiring of the actual parameters of the vehicle and the target parameters of the vehicle comprises: acquiring the actual position, the actual speed, the target position and the target speed; calculating error amounts of the target position and the actual position and the target speed and the actual speed; establishing a spatial state equation of the vehicle based on the error amount and the target acceleration; establishing a cost function based on the error amount and the target acceleration; and under the condition of meeting the space state equation, calculating the target acceleration when the cost function approaches to the minimum value.

In other embodiments of the present invention, the control parameters include: accelerator pedal opening or brake pedal opening; the determining a control parameter for controlling the vehicle based on the total mass, the target parameter, and the road parameter includes: determining a vehicle longitudinal dynamics formula corresponding to the target acceleration, the vehicle longitudinal dynamics formula comprising: a drive torque formula and a braking force formula; calculating a control amount for controlling the vehicle using the vehicle longitudinal dynamics formula corresponding to the target acceleration based on the total mass, the target acceleration, the road gradient, the value of the air resistance term, and the value of the rolling resistance term, the control amount including: drive torque and braking force; and finding out the opening degree of an accelerator pedal or the opening degree of a brake pedal corresponding to the control quantity from the universal characteristic table of the vehicle.

In other embodiments of the invention, before controlling the vehicle in accordance with the control parameter, the method further comprises: calculating the compensation quantity of the control parameter by adopting a proportional integral controller based on the actual acceleration and the target acceleration; determining an actual control parameter according to the sum of the compensation quantity and the control parameter; the controlling the vehicle according to the control parameter includes: and controlling the vehicle according to the actual control parameter.

In other embodiments of the present invention, the method further comprises: when a controller of the vehicle is initialized, acquiring the no-load mass of the vehicle, the target parameter and the road parameter; determining the control parameters according to the no-load mass, the target parameters and the road parameters, and controlling the vehicle according to the control parameters; the acquiring of the actual parameters of the vehicle, the target parameters of the vehicle and the road parameters comprises: and acquiring the actual parameter, the target parameter and the road parameter after the controller of the vehicle is initialized.

In other embodiments of the present invention, after controlling the vehicle according to the control parameter, the method further comprises: when the load of the vehicle is changed, determining a control parameter for controlling the vehicle according to the changed total mass of the vehicle, the target parameter and the road parameter; when the load of the vehicle is not changed, if the target parameter is converged, continuing to use the control parameter to control the vehicle; and if the target parameter is not converged, re-determining the control parameter to control the vehicle.

In a second aspect, an embodiment of the present invention provides a vehicle longitudinal control apparatus incorporating weight parameter identification, the apparatus including: the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring actual parameters of a vehicle, target parameters of the vehicle and road parameters, the actual parameters are parameters related to the actual longitudinal running of the vehicle, the target parameters are parameters which the vehicle needs to reach in the longitudinal running process, and the road parameters are parameters of a road on which the vehicle runs; the estimation module is used for estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters; a determination module for determining a control parameter for controlling the vehicle based on the total mass, the target parameter and the road parameter; and the control module is used for controlling the vehicle according to the control parameters.

In other embodiments of the present invention, the actual parameters include: actual acceleration, engine torque, tire radius, driveline ratio; the road parameters include: road grade; the estimation module, in particular, for substituting the actual acceleration, the engine torque, the tire radius, the driveline gear ratio and the road gradient into the vehicle longitudinal dynamics formula; converting the unknown quantities in the vehicle longitudinal dynamics formula after the parameters are substituted into a matrix form, wherein the unknown quantities comprise: the total mass, air resistance term, and rolling resistance term; and estimating the total mass, the value of the air resistance item and the value of the rolling resistance item by adopting a least square method based on the vehicle longitudinal dynamics formula converted into a matrix form.

In other embodiments of the present invention, the actual parameters further include: actual position and actual speed; the target parameters include: target position, target velocity, and target acceleration; the acquiring module is specifically configured to acquire the actual position, the actual speed, the target position, and the target speed; calculating error amounts of the target position and the actual position and the target speed and the actual speed; establishing a spatial state equation of the vehicle based on the error amount and the target acceleration; establishing a cost function based on the error amount and the target acceleration; and under the condition of meeting the space state equation, calculating the target acceleration when the cost function approaches to the minimum value.

In other embodiments of the present invention, the control parameters include: accelerator pedal opening or brake pedal opening; the determining module is specifically configured to determine a vehicle longitudinal dynamics formula corresponding to the target acceleration, where the vehicle longitudinal dynamics formula includes: a drive torque formula and a braking force formula; calculating a control amount for controlling the vehicle using the vehicle longitudinal dynamics formula corresponding to the target acceleration based on the total mass, the target acceleration, the road gradient, the value of the air resistance term, and the value of the rolling resistance term, the control amount including: drive torque and braking force; and finding out the opening degree of an accelerator pedal or the opening degree of a brake pedal corresponding to the control quantity from the universal characteristic table of the vehicle.

In other embodiments of the present invention, the apparatus further comprises: the compensation module is used for calculating the compensation quantity of the control parameter by adopting a proportional integral controller based on the actual acceleration and the target acceleration; determining an actual control parameter according to the sum of the compensation quantity and the control parameter; and the control module is used for controlling the vehicle according to the actual control parameters.

In other embodiments of the present invention, the apparatus further comprises: an initialization module for acquiring a no-load mass of the vehicle, the target parameter and the road parameter when a controller of the vehicle is initialized; determining the control parameters according to the no-load mass, the target parameters and the road parameters, and controlling the vehicle according to the control parameters; the acquisition module is used for acquiring the actual parameters, the target parameters and the road parameters after a controller of the vehicle is initialized.

In other embodiments of the present invention, the apparatus further comprises: the adjusting module is used for determining control parameters for controlling the vehicle according to the total mass of the vehicle, the target parameters and the road parameters after the change when the load of the vehicle changes; when the load of the vehicle is not changed, if the target parameter is converged, continuing to use the control parameter to control the vehicle; and if the target parameter is not converged, re-determining the control parameter to control the vehicle.

In a third aspect, an embodiment of the present invention provides a vehicle longitudinal control apparatus incorporating weight parameter identification, the apparatus comprising: at least one processor; and at least one memory, bus connected with the processor; the processor and the memory complete mutual communication through the bus; the processor is for invoking program instructions in the memory for performing the method of the first aspect.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium includes a stored program, and when the program runs, a device in which the storage medium is located is controlled to execute the method in the first aspect.

The vehicle longitudinal control method combining weight parameter identification provided by the embodiment of the invention comprises the following steps of firstly, obtaining actual parameters of a vehicle, target parameters of the vehicle and road parameters, wherein the actual parameters are parameters related to the actual longitudinal running of the vehicle, the target parameters are parameters which are required to be reached by the vehicle in the longitudinal running process, and the road parameters are parameters of a road on which the vehicle runs; then, estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters; then, determining control parameters for controlling the vehicle according to the total mass, the target parameters and the road parameters; finally, the vehicle is controlled according to the control parameters. Therefore, whether the load of the vehicle changes or not, the total mass of the vehicle can be estimated through the actual parameters of the vehicle and the road parameters in combination with the longitudinal dynamics formula of the vehicle, and then more accurate control parameters can be obtained based on the estimated total mass of the vehicle, the target parameters and the road parameters, so that the vehicle is accurately controlled.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a first flowchart illustrating a method for longitudinal vehicle control in conjunction with weight parameter identification according to an embodiment of the present invention;

FIG. 2 is a second flowchart illustrating a method for longitudinal vehicle control in conjunction with weight parameter identification according to an embodiment of the present invention;

FIG. 3 is an architectural diagram of a vehicle longitudinal control in an embodiment of the present invention;

FIG. 4 is a third schematic flow chart illustrating a method for longitudinal vehicle control in conjunction with weight parameter identification in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a longitudinal vehicle control device incorporating weight parameter identification in accordance with an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a longitudinal vehicle control apparatus incorporating weight parameter identification in an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The embodiment of the invention provides a vehicle longitudinal control method combined with weight parameter identification, and an execution main body of the method can be a controller used for controlling vehicle running in a vehicle or a controller used for remotely controlling vehicle running outside the vehicle. Fig. 1 is a first schematic flow chart of a vehicle longitudinal control method incorporating weight parameter identification according to an embodiment of the present invention, and referring to fig. 1, the method may include:

s101: and acquiring actual parameters, target parameters and road parameters of the vehicle.

Wherein the actual parameter of the vehicle is a parameter related to the actual longitudinal running of the vehicle. Such as: actual longitudinal acceleration of the vehicle, engine torque, tire radius, driveline gear ratio, etc. The actual parameters of the vehicle can be obtained by detecting vehicle-mounted sensors, and can also be directly obtained from configuration parameters of the vehicle. The specific manner of obtaining the actual parameters of the vehicle can be determined according to the types of the actual parameters. Such as: when the running parameters of the vehicle such as the longitudinal acceleration, the engine torque and the like need to be acquired, the running parameters can be detected and acquired through vehicle-mounted sensors. When it is desired to obtain design parameters for a vehicle, such as tire radius, driveline gear ratio, etc., the design parameters can be obtained directly from the vehicle's configuration parameters, since the design parameters are configured when the vehicle is designed and manufactured.

The target parameter of the vehicle is a parameter that the vehicle is required to reach in the longitudinal running, that is, a target state that the vehicle reaches in the longitudinal running by controlling the vehicle. In controlling the longitudinal travel of the vehicle, the target parameter may be a position that the vehicle is required to reach, a speed that the vehicle is required to reach, an acceleration that the vehicle is required to reach, or the like. In controlling the lateral running of the vehicle, the target parameter may be a position that the vehicle is required to reach, a turning radius that the vehicle is required to reach, or the like. The specific type of target parameter may be determined based on the target state that the vehicle is required to achieve. Such as: the vehicle is required to travel straight at a certain speed and a constant speed, and the target parameter is the speed.

The road parameter is a parameter of a road on which the vehicle is traveling. Such as: the gradient of the road on which the vehicle is traveling, the air density, the wind resistance coefficient, the road surface rolling resistance coefficient, and the like. The road parameters can be obtained by all the road measurement equipment, or can be obtained by part of the road parameters through the road measurement equipment, and the other part of the road parameters are estimated by adopting a vehicle longitudinal dynamics formula by combining the known road parameters and the actual parameters of the vehicle. The drive test device herein may refer to a device provided on a road to measure a road parameter. The road testing equipment is placed on the road to be tested, so that the road testing equipment measures the relevant parameters of the road, and the relevant parameters are calculated to obtain the road parameters. When the controller of the vehicle needs the road parameters, the controller can directly acquire the road parameters from the drive test equipment.

S102: and estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters.

The total mass of the vehicle here refers to the sum of the mass of the vehicle itself and the mass of the cargo currently carried by the vehicle. Since the total mass of the vehicle cannot be measured in real time and needs to be considered when the vehicle is accurately controlled, the total mass of the vehicle can be estimated through a vehicle longitudinal dynamics formula.

The vehicle longitudinal dynamics formula is used as a classical vehicle control theory, and the total mass of the vehicle can be obtained by substituting actual parameters and road parameters of the vehicle into the vehicle longitudinal dynamics formula through derivation calculation.

When the actual parameters and the road parameters of the vehicle are all known, the actual parameters and the road parameters of the vehicle can be substituted into the vehicle longitudinal dynamics formula, and at the moment, only one unknown quantity in the formula is the total mass of the vehicle. By solving for this unknown quantity, the total mass of the vehicle can be obtained.

When the actual parameters and the partial road parameters of the vehicle are known, the actual parameters and the partial road parameters of the vehicle can still be substituted into the vehicle longitudinal dynamics formula, and at this time, a plurality of unknowns are respectively in the formula: the total mass of the vehicle and another portion of the road parameters. By converting the unknown quantity into a matrix and then adopting a least square method, the total mass of the vehicle and the other part of road parameters can be estimated.

S103: and determining control parameters for controlling the vehicle according to the total mass, the target parameters and the road parameters.

After target parameters, road parameters and total mass of the vehicle are obtained, driving torque, braking force or tire steering of the vehicle can be accurately determined, and then control parameters such as opening degree of an accelerator pedal, opening degree of a brake pedal or rotation direction and angle of a steering wheel of the vehicle can be accurately determined by referring to a universal characteristic table of the vehicle, so that the controller can accurately control the vehicle according to the control parameters.

Here, it should be noted that: if the control parameters for controlling the longitudinal running of the vehicle are determined according to the total mass of the vehicle, the target parameters of the vehicle and the road parameters in the process of longitudinally controlling the vehicle. Such as: accelerator pedal opening, brake pedal opening, etc. If the control parameters for controlling the transverse running of the vehicle are determined according to the total mass of the vehicle, the target parameters of the vehicle and the road parameters in the process of carrying out transverse control on the vehicle, the control parameters are used for controlling the transverse running of the vehicle. Such as: the direction and angle of rotation of the steering wheel, etc.

S104: the vehicle is controlled according to the control parameters.

After the controller of the vehicle determines the control parameters, the running of the vehicle can be controlled according to the control parameters.

As can be seen from the above, in the method for controlling a longitudinal direction of a vehicle in combination with weight parameter identification provided in the embodiments of the present invention, first, an actual parameter of the vehicle, a target parameter of the vehicle, and a road parameter are obtained, where the actual parameter is a parameter related to actual longitudinal travel of the vehicle, the target parameter is a parameter that the vehicle needs to reach during longitudinal travel, and the road parameter is a parameter of a road on which the vehicle travels; then, estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters; then, determining control parameters for controlling the vehicle according to the total mass, the target parameters and the road parameters; finally, the vehicle is controlled according to the control parameters. Therefore, whether the load of the vehicle changes or not, the total mass of the vehicle can be estimated through the actual parameters of the vehicle and the road parameters in combination with the longitudinal dynamics formula of the vehicle, and then more accurate control parameters can be obtained based on the estimated total mass of the vehicle, the target parameters and the road parameters, so that the vehicle is accurately controlled.

Further, as a refinement and an extension of the method shown in fig. 1, the embodiment of the invention also provides a vehicle longitudinal control method combined with weight parameter identification. Fig. 2 is a second schematic flow chart of a vehicle longitudinal control method combining weight parameter identification according to an embodiment of the present invention, and referring to fig. 2, the method may include:

s201: actual parameters and road parameters of the vehicle are obtained.

Wherein the actual parameters of the vehicle include: actual acceleration of the vehicle, engine torque, tire radius, driveline gear ratio. The road parameters include: the road grade.

In a specific implementation, a controller controlling the vehicle may obtain actual acceleration and engine torque of the vehicle through on-board sensors, obtain a tire radius and a driveline gear ratio of the vehicle from configuration parameters of the vehicle, and obtain a road grade from a road side device.

S202: and estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters.

Specifically, S202 may include the following three steps:

s2021: the actual acceleration of the vehicle, engine torque, tire radius, driveline gear ratio, and road grade are substituted into the vehicle longitudinal dynamics equation. That is to say that the first and second electrodes,

formula (1)

Wherein the content of the first and second substances,

as the torque of the engine is to be,

in order to be the radius of the tire,

in order to provide the transmission ratio of the transmission system,

as a result of the total mass of the vehicle,

is the actual acceleration of the vehicle and,

in order to be the acceleration of the gravity,

for roadsThe slope of the slope,

in order to be the density of the air,

the area of the wind-facing surface is,

in order to obtain the wind resistance coefficient,

is the actual speed of the vehicle and,

is road rolling resistance coefficient.

S2022: and converting the unknown quantity in the vehicle longitudinal dynamics formula after the parameters are substituted into a matrix form.

Due to the fact that

、

、

Can be obtained by on-board sensors, vehicle configuration parameters or drive test equipment

、

、

、

Is difficult to directly obtain, and the longitudinal dynamic formula of the vehicle is only one, so the total mass of the vehicle is reduced

Air resistance term

And rolling resistance items

The unknowns are transformed into the same matrix and solved.

The formula of the vehicle longitudinal dynamics converted into the matrix form is as follows:

formula (2)

S2023: and estimating the total mass, the value of the air resistance item and the value of the rolling resistance item by adopting a least square method based on the vehicle longitudinal dynamics formula converted into the matrix form.

To facilitate the calculation, let:

，

，

。

thus, the total mass, the value of the air resistance term, and the value of the rolling resistance term can be estimated using the least squares method. Of course, the total mass, the value of the air resistance term, and the value of the rolling resistance term may also be estimated using a recursive least squares method. The method used to estimate the total mass, the value of the air resistance term, and the value of the rolling resistance term is not particularly limited.

In particular, the method comprises the following steps of,

formula (3)

Can see through

By performing a specific calculation, it is possible to obtain

To obtain a specific numerical value of

Can then be used to obtain the total mass of the vehicle respectively

Air resistance term

And rolling resistance items

The specific numerical value of (1).

S203: actual parameters and target parameters of the vehicle are obtained.

Wherein the actual parameters of the vehicle further include: the actual position and the actual speed of the vehicle. The actual position, the actual speed, and the actual acceleration of the vehicle herein refer to real-time physical quantities when the vehicle travels longitudinally, that is, the actual longitudinal position, the actual longitudinal speed, and the actual longitudinal acceleration of the vehicle. And the target parameters of the vehicle include: a target position and a target speed of the vehicle. The target position and the target speed of the vehicle here still refer to physical quantities that the vehicle needs to reach when traveling in the longitudinal direction.

Here, the actual parameter of the vehicle may be obtained by an on-vehicle sensor, and the target parameter of the vehicle may be obtained by a controller of the vehicle.

S204: and obtaining the target acceleration of the vehicle by adopting a model control theory based on the actual parameters and the target parameters.

The target acceleration of the vehicle here still belongs to the target parameter of the vehicle. The controller for controlling the vehicle can directly receive the target acceleration of the vehicle sent by the outside to control the vehicle, and can automatically calculate the target acceleration of the vehicle according to the actual position, the actual speed, the target position and the target speed of the vehicle so as to control the vehicle. Specifically, the controller may be an upper controller in a vehicle longitudinal control model.

Specifically, S204 may include the following four steps:

s2041: and calculating the error amount of the target position and the actual position and the error amount of the target speed and the actual speed.

That is, the target position and the actual position of the vehicle are subtracted from each other, and the target speed and the actual speed of the vehicle are subtracted from each other and combined to form the state quantity of the vehicle model. Namely, it is

Wherein, in the step (A),

is the target position of the vehicle,

is the actual position of the vehicle,

is the target speed of the vehicle and,

is the actual speed of the vehicle.

S2042: a spatial state equation of the vehicle is established based on the error amount and the target acceleration.

Here, the target acceleration of the vehicle may be set

As a control quantity

And obtaining a space state equation of the vehicle model:

formula (4)

Wherein the content of the first and second substances,

，

。

s2043: a cost function is established based on the error amount and the target acceleration.

Since it is necessary to reduce the longitudinal error of the vehicle, that is, the longitudinal position error and the longitudinal speed error, and also to refer to the control amount of the vehicle, that is, the target acceleration in the longitudinal control of the vehicle, it is also necessary to set a cost function:

pu formula (5)

Wherein Q, P is a weight matrix.

S2044: and under the condition of meeting the space state equation, calculating the target acceleration when the cost function approaches to the minimum value.

In particular, J is minimized anddetermining a control variable u, i.e. a target acceleration

. While minimizing the cost function, a target acceleration is also required

The space state equation is satisfied. That is, the target acceleration is solved for in an iterative process of minimizing the cost function to solve for the target acceleration

The spatial equation of state of the vehicle needs to be satisfied at all times.

Here, it should be noted that: the steps S201 to S202 and S203 to S204 may be executed simultaneously or non-simultaneously, that is, S201 to S202 is executed first and then S203 to S204 is executed, or S203 to S204 is executed first and then S201 to S202 is executed. The execution sequence of S201-S202 and S203-S204 is not limited herein.

S205: and determining control parameters for controlling the vehicle according to the total mass of the vehicle, the target acceleration and the road parameters.

After the total mass and the target acceleration of the vehicle are obtained, the control parameters for controlling the vehicle can be accurately calculated in the lower controller according to the total mass and the target acceleration of the vehicle and the road parameters, so that the vehicle can be accurately controlled.

Specifically, S205 may include the following three steps:

s2051: a vehicle longitudinal dynamics formula corresponding to the target acceleration is determined.

Because the acceleration has positive and negative, when the acceleration is positive, the vehicle needs to be accelerated; when the acceleration is negative, it is described that the vehicle needs to be decelerated. It is necessary to determine whether to accelerate or decelerate the vehicle according to the target acceleration. And the vehicle longitudinal dynamics formula includes: a drive torque equation and a braking force equation. Therefore, when it is determined that the vehicle needs to be accelerated, it is necessary to calculate the driving torque for the vehicle according to the driving torque equation of the vehicle; when it is determined that the vehicle needs to be decelerated, the braking force for the vehicle needs to be calculated according to a braking force formula of the vehicle.

S2052: and calculating the control quantity of the control vehicle by adopting a vehicle longitudinal dynamic formula corresponding to the target acceleration on the basis of the total mass of the vehicle, the target acceleration, the road gradient, the value of the air resistance item and the value of the rolling resistance item.

Since the vehicle longitudinal dynamics formula includes: the driving torque formula and the braking force formula, and accordingly, the control amounts herein include: drive torque and braking force. When a driving torque formula is adopted for calculation, the obtained driving torque is the driving torque; when the braking force formula is adopted for calculation, the braking force is obtained.

In particular, the method comprises the following steps of,

formula (6)

Formula (7)

Wherein the content of the first and second substances,

in order to drive the torque, the drive motor is,

in order to be a braking force,

in order to be the radius of the tire,

in order to provide the transmission ratio of the transmission system,

as a result of the total mass of the vehicle,

is a target acceleration of the vehicle,

in order to be the acceleration of the gravity,

in order to be the gradient of the road,

in order to be the density of the air,

the area of the wind-facing surface is,

in order to obtain the wind resistance coefficient,

is the target speed of the vehicle and,

is road rolling resistance coefficient.

Here, the calculation in S2023 can be directly performed

、

、

Substituting into the above formula (6) or formula (7), and substituting into other parameters, calculating corresponding driving torque

Or braking force

。

S2053: the opening degree of an accelerator pedal or the opening degree of a brake pedal corresponding to the control amount is found in a universal characteristic table of the vehicle.

Since the control amount includes: the driving torque and the braking force are correspondingly present in the universal characteristic table: accelerator pedal opening and brake pedal opening. When the calculated driving torque is the driving torque, searching the corresponding accelerator pedal opening in the universal characteristic table; when the calculated braking force is the braking force, the corresponding opening degree of the brake pedal is searched in the universal characteristic table.

In particular, the method comprises the following steps of,

formula (8)

Formula (9)

Wherein the content of the first and second substances,

the opening degree of the accelerator pedal is set as,

in order to determine the opening degree of the brake pedal,

in order to drive the torque, the drive motor is,

in order to be a braking force,

is the current speed of the engine and is,

is the actual speed of the vehicle.

Here, it should be noted that: according to the driving torque

Finding out corresponding opening degree of accelerator pedal from universal characteristic table

When the engine is in use, the current rotating speed of the engine also needs to be referred

. I.e. according to the driving torque

And current engine speed

. According to the braking force

Finding out corresponding brake pedal opening degree from universal characteristic table

When, at the same time, the actual speed of the vehicle also needs to be referenced

. I.e. according to the braking force

And the actual speed of the vehicle

。

S2054: and generating control parameters according to the opening degree of the accelerator pedal and the opening degree of the brake pedal.

That is to say that the first and second electrodes,

formula (10)

To control the longitudinal travel of the vehicle according to cmd.

However, in the process of controlling the longitudinal running of the vehicle, a certain deviation often exists between the target acceleration received by the controller and the actual acceleration in running, and a larger deviation can be caused after a long time, so that the accuracy of the longitudinal control of the vehicle is affected. Therefore, after the control command of the vehicle is generated, the control command needs to be compensated. Thus, the accuracy of controlling the vehicle can be improved, and the actual position and the actual speed of the vehicle can gradually reach the target position and the target speed.

S206: and calculating the compensation quantity of the control parameter by using a proportional integral controller based on the actual acceleration and the target acceleration of the vehicle.

The compensation amount is calculated by using a model-free controller, i.e., a Proportional Integral (PI) controller.

In particular, the method comprises the following steps of,

formula (11)

Wherein the content of the first and second substances,

for the compensation amount of the longitudinal control of the vehicle,

in order to achieve the target acceleration,

in order to be the actual acceleration,

is a scaling factor for the controller and is,

is the integral coefficient of the controller and is,

is the time interval of the sampling.

S207: and determining an actual control parameter according to the sum of the compensation amount and the control parameter.

Specifically, the compensation amount calculated in S207 is calculated

And the control parameters calculated in S206

Adding to obtain actual control parameters

. That is to say that the first and second electrodes,

formula (12)

S208: and controlling the vehicle according to the actual control parameter.

By this, it is accomplished that the longitudinal running of the vehicle is accurately controlled according to the actual total mass of the vehicle.

The following describes a vehicle longitudinal control method combining weight parameter identification provided by an embodiment of the present invention from the perspective of a hardware device of a vehicle, i.e., a vehicle controller.

Fig. 3 is an architecture diagram of a vehicle longitudinal control according to an embodiment of the present invention, and is shown in fig. 3, and includes four parts, namely, a parameter identification module 301, an upper layer controller 302, a lower layer controller 303, and a throttle/brake compensator 304. Wherein, the parameter identification module 301 obtains the actual acceleration of the vehicle

Actual speed

Engine torque

Engine speed

Road grade

Etc. estimating the total mass of the vehicle

Air resistance term

And rolling resistance items

And sent to the lower layer controller 303. The upper controller 302 acquires the target position of the vehicle according to the acquired target position

Actual position of the object

Target speed

Actual speed

Calculating a target acceleration of the vehicle

And sent to the lower layer controller 303. The lower layer controller 303 is based on the total mass of the vehicle

Air resistance term

Rolling resistance item

And target acceleration

Generating control parameters

And sent to the throttle/brake compensator 304. Throttle/brake compensator 304 based on actual acceleration

For control parameters

Compensation is performed. Finally according to the compensated actual control parameter

And performing longitudinal running control on the vehicle. Wherein, the upper controller 302 and the lower controller 303 belong to model control, and the accelerator/brake compensator belongs to model-free control.

However, not all processes of controlling the vehicle are performed according to the steps of S201 to S209 described above. If the controller of the vehicle is initialized, the control of the vehicle is not performed according to the steps of S201-S209, but the vehicle is controlled according to the factory parameters of the vehicle.

Fig. 4 is a third schematic flow chart of a vehicle longitudinal control method combining weight parameter identification according to an embodiment of the present invention, and referring to fig. 4, the method may include:

s401: it is determined whether a controller of the vehicle is initialized. If yes, go to S402; if not, S403 is executed.

The controller initialization refers to that the longitudinal running of the vehicle is controlled by a vehicle longitudinal control method which is combined with weight parameter identification and is provided by the embodiment of the invention never before.

S402: and acquiring the no-load mass, the target parameters and the road parameters of the vehicle.

S403: and acquiring actual parameters, target parameters and road parameters of the vehicle, and estimating the total mass of the vehicle according to the actual parameters of the vehicle.

Specifically, the total mass of the vehicle can be estimated by substituting the actual parameters of the vehicle and the road parameters into a longitudinal vehicle dynamics formula. I.e., the process described in S102 or S202.

S404: and determining control parameters for controlling the vehicle according to the mass of the vehicle, the target parameters and the road parameters.

When a controller of the vehicle is initialized, the mass of the vehicle is the unloaded mass of the vehicle; when the controller of the vehicle is initialized, the mass of the vehicle is the total mass of the vehicle. For a specific process of determining the control parameter, reference may be made to S103 or S205, which is not described herein again.

S405: the vehicle is controlled according to the control parameters.

S406: and judging whether the load of the vehicle is changed or not. If yes, executing S403 again; if not, go to S407.

When the load of the vehicle changes, the total mass of the vehicle is influenced, and the accuracy of the control parameters is further influenced. Therefore, it is necessary to determine whether or not the load of the vehicle has changed.

In the specific implementation process, the total mass of the vehicle can be estimated by adopting a vehicle longitudinal dynamics formula through the acquired actual parameters and road parameters of the vehicle, and if the total mass of the vehicle estimated at present and the total mass of the vehicle estimated last time are out of an error range, the load of the vehicle is considered to be changed; and if the total mass of the vehicle estimated at present and the total mass of the vehicle estimated last time are in an error range, determining that the load of the vehicle is not changed.

And S403 is executed again, namely, the actual parameters of the vehicle are obtained again, the total mass of the vehicle is estimated again by adopting the vehicle longitudinal dynamics formula according to the actual parameters and the road parameters, the control parameters for controlling the vehicle are calculated according to the total mass, the target parameters and the road parameters, and the vehicle is controlled according to the control parameters.

S407: and judging whether the target parameters are converged. If yes, continuing to execute S405; if not, S403 is executed again.

Since the vehicle is controlled in real time, different target parameters are calculated at different times, and then different control parameters are calculated to control the vehicle until the state of the vehicle reaches the target state. And if the plurality of target parameters calculated in succession converge, it is indicated that the vehicle is gradually reaching the target state. However, if the plurality of target parameters calculated continuously are not convergent, it is indicated that the vehicle does not gradually reach the target state as desired. Therefore, it is necessary to determine whether the vehicle gradually reaches the target state as desired by determining whether the target parameter converges, and if it is determined that the vehicle does not gradually reach the target state as desired, the vehicle needs to be adjusted accordingly so that the vehicle can gradually reach the target state again as desired.

As can be seen from the above, in the vehicle longitudinal control method combining weight parameter identification provided in the embodiment of the present invention, the total mass of the vehicle is estimated by using the vehicle longitudinal dynamics formula based on the actual parameters and the road parameters of the vehicle, the target acceleration of the vehicle is obtained by using the model control theory based on the actual parameters and the target parameters of the vehicle, the control parameters for controlling the vehicle are determined according to the total mass of the vehicle, the target acceleration and the road parameters, the control parameters are compensated according to the actual acceleration of the vehicle, and the longitudinal form of the vehicle is finally controlled according to the compensated control parameters. Therefore, whether the load of the vehicle changes or not, the total mass of the vehicle can be estimated through the actual parameters of the vehicle and the road parameters in combination with a vehicle longitudinal dynamics formula, more accurate control parameters can be obtained based on the estimated total mass of the vehicle, target parameters and road parameters, and the control parameters are compensated according to the actual parameters of the vehicle, so that the longitudinal running state of the vehicle can gradually reach the target state, and the purpose of accurately controlling the vehicle is achieved.

Based on the same inventive concept, as the implementation of the method, the embodiment of the invention also provides a vehicle longitudinal control device combined with weight parameter identification. Fig. 5 is a schematic structural diagram of a longitudinal vehicle control device incorporating weight parameter identification according to an embodiment of the present invention, and referring to fig. 5, the device 50 may include: an obtaining module 501, configured to obtain an actual parameter of a vehicle, a target parameter of the vehicle, and a road parameter, where the actual parameter is a parameter related to actual longitudinal running of the vehicle, the target parameter is a parameter that the vehicle needs to reach, and the road parameter is a parameter of a road on which the vehicle runs; an estimation module 502 for estimating a total mass of the vehicle based on the actual parameters and the road parameters using a vehicle longitudinal dynamics formula; a determining module 503 for determining a control parameter for controlling the vehicle according to the total mass, the target parameter and the road parameter; a control module 504 for controlling the vehicle in accordance with the control parameter.

Based on the foregoing embodiments, the actual parameters include: actual acceleration, engine torque, tire radius, driveline ratio; the road parameters include: road grade; the estimation module, in particular, for substituting the actual acceleration, the engine torque, the tire radius, the driveline gear ratio and the road gradient into the vehicle longitudinal dynamics formula; converting the unknown quantities in the vehicle longitudinal dynamics formula after the parameters are substituted into a matrix form, wherein the unknown quantities comprise: the total mass, air resistance term, and rolling resistance term; and estimating the total mass, the value of the air resistance item and the value of the rolling resistance item by adopting a least square method based on the vehicle longitudinal dynamics formula converted into a matrix form.

Based on the foregoing embodiment, the actual parameters further include: actual position and actual speed; the target parameters include: target position, target velocity, and target acceleration; the acquiring module is specifically configured to acquire the actual position, the actual speed, the target position, and the target speed; calculating error amounts of the target position and the actual position and the target speed and the actual speed; establishing a spatial state equation of the vehicle based on the error amount and the target acceleration; establishing a cost function based on the error amount and the target acceleration; and under the condition of meeting the space state equation, calculating the target acceleration when the cost function approaches to the minimum value.

Based on the foregoing embodiments, the control parameters include: accelerator pedal opening or brake pedal opening; the determining module is specifically configured to determine a vehicle longitudinal dynamics formula corresponding to the target acceleration, where the vehicle longitudinal dynamics formula includes: a drive torque formula and a braking force formula; calculating a control amount for controlling the vehicle using the vehicle longitudinal dynamics formula corresponding to the target acceleration based on the total mass, the target acceleration, the road gradient, the value of the air resistance term, and the value of the rolling resistance term, the control amount including: drive torque and braking force; and finding out the opening degree of an accelerator pedal or the opening degree of a brake pedal corresponding to the control quantity from the universal characteristic table of the vehicle.

Based on the foregoing embodiment, the apparatus further includes: the compensation module is used for calculating the compensation quantity of the control parameter by adopting a proportional integral controller based on the actual acceleration and the target acceleration; determining an actual control parameter according to the sum of the compensation quantity and the control parameter; and the control module is used for controlling the vehicle according to the actual control parameters.

Based on the foregoing embodiment, the apparatus further includes: an initialization module for acquiring a no-load mass of the vehicle, the target parameter and the road parameter when a controller of the vehicle is initialized; determining the control parameters according to the no-load mass, the target parameters and the road parameters, and controlling the vehicle according to the control parameters; the acquisition module is used for acquiring the actual parameters, the target parameters and the road parameters after a controller of the vehicle is initialized.

Based on the foregoing embodiment, the apparatus further includes: the adjusting module is used for determining control parameters for controlling the vehicle according to the total mass of the vehicle, the target parameters and the road parameters after the change when the load of the vehicle changes; when the load of the vehicle is not changed, if the target parameter is converged, continuing to use the control parameter to control the vehicle; and if the target parameter is not converged, re-determining the control parameter to control the vehicle.

Here, it should be noted that: the above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.

Here, it should be further explained that: the modules can be respectively arranged in different controllers. Such as: the acquisition module can be arranged in the upper layer controller and used for acquiring target parameters; the determining module can be arranged in the lower layer controller and used for obtaining the control parameters; the compensation module can be arranged in the accelerator/brake compensator and is used for compensating the control parameters; and so on.

Based on the same inventive concept, the embodiment of the invention also provides the vehicle longitudinal control equipment combined with the weight parameter identification. Fig. 6 is a schematic structural diagram of a longitudinal vehicle control device incorporating weight parameter identification according to an embodiment of the present invention, and referring to fig. 6, the device 60 may include: at least one processor 601; and at least one memory 602, bus 603 connected to processor 601; the processor 601 and the memory 602 complete communication with each other through the bus 603; the processor 601 is used to call program instructions in the memory 602 to perform the methods in one or more of the embodiments described above.

Here, it should be noted that: the above description of the apparatus embodiment is similar to the above description of the method embodiment, with similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the apparatus according to the invention, reference is made to the description of the embodiments of the method according to the invention for understanding.

Based on the same inventive concept, the embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and when the program runs, the apparatus on which the storage medium is located is controlled to execute the method in one or more embodiments described above.

Here, it should be noted that: the above description of the computer-readable storage medium embodiments is similar to the description of the method embodiments described above, with similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the computer-readable storage medium of the present invention, reference is made to the description of the embodiments of the method of the present invention.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for longitudinal vehicle control in combination with weight parameter identification, the method comprising:

acquiring actual parameters of a vehicle, target parameters of the vehicle and road parameters, wherein the actual parameters are parameters related to actual longitudinal running of the vehicle, the target parameters are parameters which the vehicle needs to reach in the longitudinal running process, and the road parameters are parameters of a road on which the vehicle runs;

estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters;

determining a control parameter for controlling the vehicle according to the total mass, the target parameter and the road parameter;

and controlling the vehicle according to the control parameter.

2. The method of claim 1, wherein the actual parameters comprise: actual acceleration, engine torque, tire radius, driveline ratio; the road parameters include: road grade; the estimating of the total mass of the vehicle using a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters comprises:

substituting the actual acceleration, the engine torque, the tire radius, the driveline gear ratio, and the road slope into the vehicle longitudinal dynamics equation;

converting the unknown quantities in the vehicle longitudinal dynamics formula after the parameters are substituted into a matrix form, wherein the unknown quantities comprise: the total mass, air resistance term, and rolling resistance term;

and estimating the total mass, the value of the air resistance item and the value of the rolling resistance item by adopting a least square method based on the vehicle longitudinal dynamics formula converted into a matrix form.

3. The method of claim 2, wherein the actual parameters further comprise: actual position and actual speed; the target parameters include: target position, target velocity, and target acceleration; the acquiring of the actual parameters of the vehicle and the target parameters of the vehicle comprises:

acquiring the actual position, the actual speed, the target position and the target speed;

calculating error amounts of the target position and the actual position and the target speed and the actual speed;

establishing a spatial state equation of the vehicle based on the error amount and the target acceleration;

establishing a cost function based on the error amount and the target acceleration;

and under the condition of meeting the space state equation, calculating the target acceleration when the cost function approaches to the minimum value.

4. The method of claim 3, wherein the control parameters comprise: accelerator pedal opening or brake pedal opening; the determining a control parameter for controlling the vehicle based on the total mass, the target parameter, and the road parameter includes:

determining a vehicle longitudinal dynamics formula corresponding to the target acceleration, the vehicle longitudinal dynamics formula comprising: a drive torque formula and a braking force formula;

calculating a control amount for controlling the vehicle using the vehicle longitudinal dynamics formula corresponding to the target acceleration based on the total mass, the target acceleration, the road gradient, the value of the air resistance term, and the value of the rolling resistance term, the control amount including: drive torque and braking force;

and finding out the opening degree of an accelerator pedal or the opening degree of a brake pedal corresponding to the control quantity from the universal characteristic table of the vehicle.

5. The method of claim 4, wherein prior to controlling the vehicle in accordance with the control parameter, the method further comprises:

calculating the compensation quantity of the control parameter by adopting a proportional integral controller based on the actual acceleration and the target acceleration;

determining an actual control parameter according to the sum of the compensation quantity and the control parameter;

the controlling the vehicle according to the control parameter includes:

and controlling the vehicle according to the actual control parameter.

6. The method according to any one of claims 1 to 5, further comprising:

when a controller of the vehicle is initialized, acquiring the no-load mass of the vehicle, the target parameter and the road parameter; determining the control parameters according to the no-load mass, the target parameters and the road parameters, and controlling the vehicle according to the control parameters;

the acquiring of the actual parameters of the vehicle, the target parameters of the vehicle and the road parameters comprises:

and acquiring the actual parameter, the target parameter and the road parameter after the controller of the vehicle is initialized.

7. The method of claim 6, wherein after controlling the vehicle in accordance with the control parameter, the method further comprises:

when the load of the vehicle is changed, determining a control parameter for controlling the vehicle according to the changed total mass of the vehicle, the target parameter and the road parameter;

when the load of the vehicle is not changed, if the target parameter is converged, continuing to use the control parameter to control the vehicle; and if the target parameter is not converged, re-determining the control parameter to control the vehicle.

8. A vehicle longitudinal control apparatus incorporating weight parameter identification, the apparatus comprising:

the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring actual parameters of a vehicle, target parameters of the vehicle and road parameters, the actual parameters are parameters related to the actual longitudinal running of the vehicle, the target parameters are parameters which the vehicle needs to reach in the longitudinal running process, and the road parameters are parameters of a road on which the vehicle runs;

the estimation module is used for estimating the total mass of the vehicle by adopting a vehicle longitudinal dynamics formula based on the actual parameters and the road parameters;

a determination module for determining a control parameter for controlling the vehicle based on the total mass, the target parameter and the road parameter;

and the control module is used for controlling the vehicle according to the control parameters.

9. A vehicle longitudinal control apparatus incorporating weight parameter identification, the apparatus comprising:

at least one processor;

and at least one memory, bus connected with the processor;

the processor and the memory complete mutual communication through the bus; the processor is configured to invoke program instructions in the memory to perform the method of any of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when executed, controls an apparatus on which the storage medium is located to perform the method according to any of claims 1 to 7.