CN108732923B - Intelligent driving vehicle acceleration tracking control method - Google Patents
Intelligent driving vehicle acceleration tracking control method Download PDFInfo
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- CN108732923B CN108732923B CN201810534201.8A CN201810534201A CN108732923B CN 108732923 B CN108732923 B CN 108732923B CN 201810534201 A CN201810534201 A CN 201810534201A CN 108732923 B CN108732923 B CN 108732923B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention relates to an intelligent driving vehicle acceleration control method, belongs to the technical field of intelligent vehicle control, and solves the problem that the prior art cannot really realizeThe problem of accurate tracking of the acceleration of an intelligent driving vehicle is solved. The method comprises the following steps: in the automatic driving mode, the expected value a of the running acceleration is obtained in real timedes(ii) a Using the expected value a of the running accelerationdesAnd acceleration compensation amount delta a, and calculating to obtain estimated driving resistance F in the driving processd(ii) a According to estimated running resistance FdCalculating to obtain an engine control quantity and a brake control quantity; the engine and the brake system respectively execute control according to the engine control quantity and the brake control quantity and are used for changing the running state of the intelligent driving vehicle; and obtaining the acceleration compensation quantity delta a according to the current speed information and the historical speed information of the intelligent driving vehicle. The method and the intelligent driving vehicle acceleration control system realize accurate tracking of the intelligent driving vehicle acceleration, and the method is simple and easy to realize.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle control, in particular to an acceleration control method for an intelligent driving vehicle.
Background
In recent years, research on intelligent driving vehicles is widely concerned, the intelligent driving vehicles integrate functions of perception, navigation, path planning, motion control and the like, and have important significance for relieving urban traffic congestion and reducing energy consumption, and meanwhile, the intelligent driving vehicles are also a high-tech aggregate and are a sign and a feature of national comprehensive technical development. Currently, smart-driving vehicles have become a popular area of research in various countries around the world.
Motion control is an important part of intelligent driving vehicles, and acceleration performance and braking performance of automobiles directly influence the control of the intelligent driving vehicles on vehicle motion, and certain performance requirements are required to be provided for corresponding actuators such as engines and braking systems. At present, in the field of automatic driving, most of motion control schemes for vehicles are vehicle speed regulating mechanisms based on kinematics, and the scheme has the following defects:
one, the effects of vehicle internal actuator changes on vehicle motion, such as transmission shifting actions in the driveline on vehicle power transfer and tire slip caused by the braking system when pressure is excessive, are not adequately considered.
Secondly, the response characteristic and the execution characteristic of the actuator cannot be considered, so that the performance of the actuator of the vehicle cannot be intuitively evaluated, and the change of the actuator cannot be considered in a control system.
Thirdly, the longitudinal motion of the vehicle is not analyzed from the perspective of vehicle dynamics, so that the acceleration performance and the braking performance in the motion process cannot be guaranteed, and a large amount of optimization work needs to be performed on a control method.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an intelligent driving vehicle acceleration control method, so as to solve the problem that the prior art cannot realize accurate tracking of the intelligent driving vehicle acceleration.
The purpose of the invention is mainly realized by the following technical scheme:
an intelligent driving vehicle acceleration tracking control method, comprising the steps of:
in the automatic driving mode, the expected value a of the running acceleration is obtained in real timedes；
Using the expected value a of the running accelerationdesAnd acceleration compensation amount delta a, and calculating to obtain estimated driving resistance F in the driving processd；
According to estimated running resistance FdCalculating to obtain an engine control quantity and a brake control quantity;
the engine and the brake system respectively execute control according to the engine control quantity and the brake control quantity and are used for changing the running state of the intelligent driving vehicle;
and obtaining the acceleration compensation quantity delta a according to the current speed information and the historical speed information of the intelligent driving vehicle.
The invention has the following beneficial effects: compared with the prior art, the intelligent driving vehicle acceleration tracking control method provided by the embodiment further judges whether the intelligent driving vehicle should be driven or braked in the driving process by calculating the estimated driving resistance in the driving process, then calculates the control quantity of an engine or a brake system, and finally improves the tracking precision of the acceleration by adding an incremental PID control method.
On the basis of the scheme, the invention is further improved as follows:
further, the estimated running resistance F in the running process is calculated by using the formula (1)d：
Fd＝Ff+Fi+Fw+Fa (1)
Wherein, FfRolling resistance for vehicle running, FiFor the ramp resistance of the vehicle due to influence of road gradient and gravity, FwIs the air resistance to which the vehicle is driven, FaIs the desired acceleration resistance during acceleration of the vehicle.
The beneficial effect of adopting the further scheme is that: the estimated driving resistance in the driving process represents the whole resistance borne by the intelligent driving vehicle in the driving process, and the stress condition of the intelligent driving vehicle in the driving process can be analyzed by calculating the estimated driving resistance in the driving process, so that the judgment basis of whether the intelligent driving vehicle is in a driving or braking mode is provided.
Further, said Ff、Fi、Fw、FaThe calculation formulas of (A) and (B) are respectively as follows:
Ff＝f·Gcosα (2)
Fi＝G·sinα (3)
Fw＝Cd·A·v2/21.25 (4)
Fa＝δ·m·(ades+Δa) (5)
wherein f is the road surfaceRolling resistance coefficient, G is the self gravity of the vehicle, alpha is the road gradient during the running of the vehicle, CdIs the air resistance coefficient of the vehicle in the running process, A is the windward area of the vehicle in the running process, v is the average speed of the vehicle in the current period, delta is the rotating mass coefficient of the vehicle, m is the mass of the vehicle, adesThe expected value of the running acceleration of the vehicle is Δ a, and the acceleration compensation amount is Δ a.
The beneficial effect of adopting the further scheme is that: by giving a specific calculation formula of each part of the estimated running resistance, a person skilled in the art can calculate the estimated running resistance according to the method in the embodiment, and the calculation process is clear and easy to understand and implement.
Further, if the estimated running resistance F is estimateddThe vehicle enters a driving mode, and the braking control quantity and the engine control quantity in the driving mode are obtained through calculation; if the estimated running resistance F is estimatedd<And 0, the vehicle enters a braking mode, and the braking control quantity and the engine control quantity in the braking mode are obtained through calculation.
The beneficial effect of adopting the further scheme is that: by judging the relation between the estimated running resistance and 0, if the estimated running resistance is greater than or equal to 0, the vehicle enters a driving mode, otherwise, the vehicle enters a braking mode, and the processing process is simple and clear and is easy to understand.
Further, in the drive mode, the brake control amount brake is set to zero,
the engine control amount thro is calculated from the formula (6),
thro＝f-1(Te,es) (6)
wherein Te is a required driving torque, and es is an engine speed;
the required drive torque Te is calculated by the formula (7),
Te＝i·Fd (7)
wherein i is the overall transmission ratio of the transmission system.
By giving the calculation process of the engine control amount and the brake control amount in the driving mode, a person skilled in the art can obtain the engine control amount and the brake control amount in the driving mode according to the method described in the embodiment.
The beneficial effect of adopting the further scheme is that:
further, in the braking mode, the engine control amount thro is set to zero,
the brake control amount brake is calculated by the formula (8)
Wherein, FbThe required braking force is k, a primary term coefficient of a braking system model is k, and a constant term coefficient of the braking system model is b;
required braking force FbCalculated by the formula (9),
wherein Te0I is the engine output at idle and i is the total transmission ratio of the transmission system.
The beneficial effect of adopting the further scheme is that: by giving the calculation process of the engine control amount and the brake control amount in the braking mode, a person skilled in the art can obtain the engine control amount and the brake control amount in the braking mode according to the method described in the embodiment.
Further, the total transmission ratio i of the transmission system is calculated by the following formula:
i＝ig·iz·if (10)
wherein igRatio, i, of actual gears of the gearboxfTo transfer gear ratio, izIs the main speed reducer transmission ratio.
If the vehicle is not a full-drive vehicle, the transfer case transmission ratio i is not considered in calculationfAt this time, the total transmission ratio of the transmission system is:
i＝ig·iz (11)。
the beneficial effect of adopting the further scheme is that: by giving a calculation formula of the total transmission ratio of the transmission system, the total transmission ratio of the transmission system can be obtained conveniently by a person skilled in the art according to the technical method provided by the application.
Further, calculating the control quantity delta U of the current period according to the control method of the incremental PID:
ΔU＝kp·(adev-adev1)+ki·adev+kd·(adev-2adev1+adev2) (12)
wherein, adev、adev1、adev2Acceleration deviation, k, of the current cycle and the previous two cycles, respectivelypAs a proportional parameter, kiAs integral parameter, kdIs a differential parameter;
acceleration compensation amount of current cycle:
Δa＝Δalast+ΔU (13)
wherein, Δ alastThe amount of acceleration compensation for the previous cycle.
The beneficial effect of adopting the further scheme is that: the incremental PID control method is used for the calculation process of the acceleration compensation amount, the tracking precision of the acceleration can be effectively improved, the intelligent degree of the intelligent driving vehicle is improved, the method provided by the embodiment is high in practicability, and the tracking effect of the acceleration is obviously improved.
Further, the acceleration deviation a of the current cycledevThe method comprises the following steps:
storing the real-time vehicle speed data of the current period and the real-time vehicle speed data of the previous five periods, removing the maximum value and the minimum value, and taking the average value of the real-time vehicle speed data of the remaining four periods as the average speed v of the current period;
the vehicle speeds in the first 4 periods are respectively recorded as v1、v2、v3、v4Calculating to obtain the average acceleration a of the current periodreal：
areal＝(v-v4+v1-v3)/(6·Δt) (14)
Wherein Δ t is a single calculation cycle;
using the first fourDesired acceleration of cycle ades1、ades2、ades3、ades4The average expected acceleration for the first four cycles is calculated:
afdes＝(ades1+ades2+ades3+ades4)/4 (15)
calculating to obtain the acceleration deviation of the current period:
adev＝afdes-areal (16)。
the beneficial effect of adopting the further scheme is that: by providing the acceleration deviation a of the current cycledevThe calculation method can quickly obtain the acceleration deviation of the current period, and has strong feasibility.
Further, judge intelligent driving vehicle autopilot zone bit: if the value is 0, entering a manual driving mode; if the number of the brake pedal is 1, further judging whether a driver trampling behavior exists on the brake pedal, if the driver trampling behavior exists, resetting the automatic driving zone bit, and entering a manual driving mode; otherwise, enter the automatic driving mode.
The beneficial effect of adopting the further scheme is that: because the intelligent driving vehicle has both an automatic driving mode and a manual driving mode, the mode of the intelligent driving vehicle can be simply and quickly judged by the method provided by the embodiment.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of one embodiment of a method for intelligent driving vehicle acceleration tracking;
FIG. 2 is a flow chart of another embodiment of a method for intelligent driving vehicle acceleration tracking.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention discloses an acceleration tracking control method of an intelligent driving vehicle, which comprises the following steps:
in the automatic driving mode, the expected value a of the running acceleration is obtained in real timedes；
Using the expected value a of the running accelerationdesAnd acceleration compensation amount delta a, and calculating to obtain estimated driving resistance F in the driving processd；
According to estimated running resistance FdCalculating to obtain an engine control quantity and a brake control quantity;
the engine and the brake system respectively execute control according to the engine control quantity and the brake control quantity and are used for changing the running state of the intelligent driving vehicle;
and obtaining the acceleration compensation quantity delta a according to the current speed information and the historical speed information of the intelligent driving vehicle.
When the method is implemented, the acceleration compensation quantity delta a is obtained according to the current speed information and the historical speed information of the intelligent driving vehicle, the acceleration compensation quantity delta a is fed back to the estimated driving resistance calculation process of the next period, and the expected value a of the driving acceleration is obtained according to the expected value a of the driving accelerationdesAnd acceleration compensation amount delta a, and calculating to obtain estimated driving resistance F in the driving processd。
Compared with the prior art, the intelligent driving vehicle acceleration tracking control method provided by the embodiment further judges whether the intelligent driving vehicle should be driven or braked in the driving process by calculating the estimated driving resistance in the driving process, then calculates the control quantity of an engine or a brake system, and finally improves the tracking precision of the acceleration by adding an incremental PID control method.
Preferably, the estimated running resistance F during the running process is calculated by using the formula (1)d：
Fd＝Ff+Fi+Fw+Fa (1)
Wherein, FfRolling resistance for vehicle running, FiFor the ramp resistance of the vehicle due to influence of road gradient and gravity, FwIs the air resistance to which the vehicle is driven, FaIs the desired acceleration resistance during acceleration of the vehicle.
The estimated driving resistance in the driving process represents the whole resistance borne by the intelligent driving vehicle in the driving process, and the stress condition of the intelligent driving vehicle in the driving process can be analyzed by calculating the estimated driving resistance in the driving process, so that the judgment basis of whether the intelligent driving vehicle is in a driving or braking mode is provided.
Preferably, said Ff、Fi、Fw、FaThe calculation formulas of (A) and (B) are respectively as follows:
Ff＝f·Gcosα (2)
Fi＝G·sinα (3)
Fw＝Cd·A·v2/21.25 (4)
Fa＝δ·m·(ades+Δa) (5)
wherein f is the road rolling resistance coefficient, G is the self gravity of the vehicle, alpha is the road gradient in the running process of the vehicle, CdIs the air resistance coefficient of the vehicle in the running process, A is the windward area of the vehicle in the running process, v is the average speed of the vehicle in the current period, delta is the rotating mass coefficient of the vehicle, m is the mass of the vehicle, adesThe expected value of the running acceleration of the vehicle is Δ a, and the acceleration compensation amount is Δ a.
By giving a specific calculation formula of each part of the estimated running resistance, a person skilled in the art can calculate the estimated running resistance according to the method in the embodiment, and the calculation process is clear and easy to understand and implement.
Preferably, if look aheadRunning resistance FdThe vehicle enters a driving mode, and the braking control quantity and the engine control quantity in the driving mode are obtained through calculation; if the estimated running resistance F is estimatedd<And 0, the vehicle enters a braking mode, and the braking control quantity and the engine control quantity in the braking mode are obtained through calculation.
By judging the relation between the estimated running resistance and 0, if the estimated running resistance is greater than or equal to 0, the vehicle enters a driving mode, otherwise, the vehicle enters a braking mode, and the processing process is simple and clear and is easy to understand.
Preferably, in the drive mode, the brake control amount brake is set to zero,
as can be seen from the gasoline engine speed characteristic curve, the relationship among the engine required drive torque, the engine control amount, and the engine speed is as follows:
Te＝f(thro,es) (6)
the engine control amount thro is obtained by the inverse calculation of the above equation, i.e., the calculation according to the equation (7),
thro＝f-1(Te,es) (7)
wherein Te is a required driving torque, and es is an engine speed;
the required drive torque Te is calculated by the formula (8),
Te＝i·Fd (8)
wherein i is the overall transmission ratio of the transmission system.
By giving the calculation process of the engine control amount and the brake control amount in the driving mode, a person skilled in the art can obtain the engine control amount and the brake control amount in the driving mode according to the method described in the embodiment.
In the braking mode, the engine control amount thro is set to zero,
considering that the relationship between the braking force generated by the disc brake and the braking pressure is a linear relationship in the case that the wheel is not locked, the following formula is shown:
Fb＝k*brake+b (9)
wherein, FbThe required braking force is k, a primary term coefficient of a braking system model is k, and a constant term coefficient of the braking system model is b;
the brake control amount brake is calculated by the formula (10).
Required braking force FbCalculated by the formula (11),
wherein Te0I is the engine output at idle and i is the total transmission ratio of the transmission system.
By giving the calculation process of the engine control amount and the brake control amount in the braking mode, a person skilled in the art can obtain the engine control amount and the brake control amount in the braking mode according to the method described in the embodiment.
The total transmission ratio i of the transmission system is calculated by the following formula:
i＝ig·iz·if (12)
wherein igRatio, i, of actual gears of the gearboxfTo transfer gear ratio, izIs the main speed reducer transmission ratio.
If the vehicle is not a full-drive vehicle, the transfer case transmission ratio i is not considered in calculationfAt this time, the total transmission ratio of the transmission system is:
i＝ig·iz (13)。
preferably, the control amount Δ U of the current cycle is calculated according to the control method of the incremental PID:
ΔU＝kp·(adev-adev1)+ki·adev+kd·(adev-2adev1+adev2) (14)
wherein, adev、adev1、adev2Acceleration deviation, k, of the current cycle and the previous two cycles, respectivelypAs a proportional parameter, kiAs integral parameter, kdIs a differential parameter;
calculating to obtain the acceleration compensation quantity of the current period:
Δa＝Δalast+ΔU (15)
wherein, Δ alastThe amount of acceleration compensation for the previous cycle.
The incremental PID control method is used for the calculation process of the acceleration compensation amount, the tracking precision of the acceleration can be effectively improved, the intelligent degree of the intelligent driving vehicle is improved, the method provided by the embodiment is high in practicability, and the tracking effect of the acceleration is obviously improved.
Acceleration deviation a of the current cycledevThe method comprises the following steps:
storing the real-time vehicle speed data of the current period and the real-time vehicle speed data of the previous five periods, removing the maximum value and the minimum value, and taking the average value of the real-time vehicle speed data of the remaining four periods as the average speed v of the current period;
the vehicle speeds in the first 4 periods are respectively recorded as v1、v2、v3、v4Calculating to obtain the average acceleration a of the current periodreal：
areal＝(v-v4+v1-v3)/(6·Δt) (16)
Wherein Δ t is a single calculation cycle;
using the expected acceleration a of the first four cyclesdes1、ades2、ades3、ades4The average expected acceleration for the first four cycles is calculated:
afdes＝(ades1+ades2+ades3+ades4)/4 (17)
calculating to obtain the acceleration deviation of the current period:
adev＝afdes-areal (18)。
in another embodiment of the present invention, as shown in fig. 2, the automatic driving flag of the intelligent driving vehicle is determined: if the value is 0, entering a manual driving mode; if the number of the brake pedal is 1, further judging whether a driver trampling behavior exists on the brake pedal, if the driver trampling behavior exists, resetting the automatic driving zone bit, and entering a manual driving mode; otherwise, enter the automatic driving mode.
Because the intelligent driving vehicle has both an automatic driving mode and a manual driving mode, the mode of the intelligent driving vehicle can be simply and quickly judged by the method provided by the embodiment.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. An intelligent driving vehicle acceleration tracking control method is characterized by comprising the following steps:
in the automatic driving mode, the expected value a of the running acceleration is obtained in real timedes；
Using the expected value a of the running accelerationdesAnd acceleration compensation amount delta a, and calculating to obtain estimated driving resistance F in the driving processd；
According to estimated running resistance FdCalculating to obtain an engine control quantity and a brake control quantity;
the engine and the brake system respectively execute control according to the engine control quantity and the brake control quantity and are used for changing the running state of the intelligent driving vehicle;
obtaining an acceleration compensation quantity delta a according to current speed information and historical speed information of the intelligent driving vehicle;
the acceleration compensation quantity delta a is calculated according to the following steps:
the control quantity deltau of the current cycle is calculated according to the control method of the incremental PID,
ΔU＝kp·(adev-adev1)+ki·adev+kd·(adev-2adev1+adev2)
wherein, adev、adev1、adev2Acceleration deviation, k, of the current cycle and the previous two cycles, respectivelypAs a proportional parameter, kiAs integral parameter, kdIs a differential parameter;
calculating to obtain the acceleration compensation quantity of the current period:
Δa＝Δalast+ΔU
wherein, Δ alastThe acceleration compensation amount of the previous period;
the acceleration deviation a of the current perioddevThe method comprises the following steps:
storing the real-time vehicle speed data of the current period and the real-time vehicle speed data of the previous five periods, removing the maximum value and the minimum value, and taking the average value of the real-time vehicle speed data of the remaining four periods as the average speed v of the current period;
the vehicle speeds in the first 4 periods are respectively recorded as v1、v2、v3、v4Calculating to obtain the average acceleration a of the current periodreal：
areal＝(v-v4+v1-v3)/(6·Δt)
Wherein Δ t is a single calculation cycle;
using the expected acceleration a of the first four cyclesdes1、ades2、ades3、ades4The average expected acceleration for the first four cycles is calculated:
afdes＝(ades1+ades2+ades3+ades4)/4
calculating to obtain the acceleration deviation of the current period:
adev＝afdes-areal。
2. the intelligent-drive vehicle acceleration tracking control method according to claim 1, characterized in that the estimated running resistance F during the running process is calculated by using equation (1)d：
Fd＝Ff+Fi+Fw+Fa (1)
Wherein, FfRolling resistance for vehicle running, FiFor the ramp resistance of the vehicle due to influence of road gradient and gravity, FwIs the air resistance to which the vehicle is driven, FaIs the desired acceleration resistance during acceleration of the vehicle.
3. The intelligent driven vehicle acceleration tracking control method according to claim 2, characterized in that Ff、Fi、Fw、FaThe calculation formulas of (A) and (B) are respectively as follows:
Ff＝f·Gcosα (2)
Fi＝G·sinα (3)
Fw＝Cd·A·v2/21.25 (4)
Fa＝δ·m·(ades+Δa) (5)
wherein f is the road rolling resistance coefficient, G is the self gravity of the vehicle, alpha is the road gradient in the running process of the vehicle, CdIs the air resistance coefficient of the vehicle in the running process, A is the windward area of the vehicle in the running process, v is the average speed of the vehicle in the current period, delta is the rotating mass coefficient of the vehicle, m is the mass of the vehicle, adesThe expected value of the running acceleration of the vehicle is Δ a, and the acceleration compensation amount is Δ a.
4. The intelligent vehicle acceleration tracking control method according to any one of claims 1-3, characterized in that if the estimated running resistance F is estimateddThe vehicle enters a driving mode, and the braking control quantity and the engine control quantity in the driving mode are obtained through calculation; if the estimated running resistance F is estimatedd<0, the vehicle enters a braking mode and is calculated to obtain a braking dieThe braking control amount and the engine control amount in the equation.
5. The intelligent-drive-vehicle acceleration tracking control method according to claim 4, wherein, in the drive mode, the brake control amount brake is set to zero,
the engine control amount thro is calculated from the formula (6),
thro＝f-1(Te,es) (6)
wherein Te is a required driving torque, and es is an engine speed;
the required drive torque Te is calculated by the formula (7),
Te＝i·Fd (7)
wherein i is the overall transmission ratio of the transmission system.
6. The intelligent driving vehicle acceleration tracking control method according to claim 5, characterized in that, in the braking mode, the engine control amount thre is set to zero,
the brake control amount brake is calculated by the formula (8)
Wherein, FbThe required braking force is k, a primary term coefficient of a braking system model is k, and a constant term coefficient of the braking system model is b;
required braking force FbCalculated by the formula (9),
wherein Te0I is the engine output at idle and i is the total transmission ratio of the transmission system.
7. The intelligent-drive vehicle acceleration tracking control method according to any one of claims 5-6, characterized in that the transmission system total gear ratio i is calculated by the following formula:
i＝ig·iz·if (10)
wherein igRatio, i, of actual gears of the gearboxfTo transfer gear ratio, izThe transmission ratio of the main speed reducer is set;
if the vehicle is not a full-drive vehicle, the transfer case transmission ratio i is not considered in calculationfAt this time, the total transmission ratio of the transmission system is:
i＝ig·iz (11)。
8. the intelligent driving vehicle acceleration tracking control method according to claim 1, characterized in that the judgment of the automatic driving flag bit of the intelligent driving vehicle is: if the value is 0, entering a manual driving mode; if the number of the brake pedal is 1, further judging whether a driver trampling behavior exists on the brake pedal, if the driver trampling behavior exists, resetting the automatic driving zone bit, and entering a manual driving mode; otherwise, enter the automatic driving mode.
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| CN110126760B (en) * | 2019-04-10 | 2021-07-16 | 百度在线网络技术（北京）有限公司 | Method, apparatus, device and medium for driving control of vehicle |
| CN110390739B (en) * | 2019-07-24 | 2021-07-09 | 浙江吉利汽车研究院有限公司 | Vehicle data processing method and vehicle data processing system |
| CN111055830B (en) * | 2019-11-27 | 2022-03-22 | 苏州智加科技有限公司 | Control method and device for automatic driving transmission system of vehicle |
| CN112947047B (en) * | 2021-01-26 | 2022-08-09 | 重庆长安汽车股份有限公司 | Automatic driving acceleration control method based on self-adaptive PID algorithm |
| CN113282090A (en) * | 2021-05-31 | 2021-08-20 | 三一专用汽车有限责任公司 | Unmanned control method and device for engineering vehicle, engineering vehicle and electronic equipment |
| CN114407892A (en) * | 2022-01-19 | 2022-04-29 | 上汽通用五菱汽车股份有限公司 | Acceleration control method, device, equipment and storage medium of vehicle |
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