CN109747651A - A kind of control method for vehicle, apparatus and system - Google Patents
A kind of control method for vehicle, apparatus and system Download PDFInfo
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- CN109747651A CN109747651A CN201811612201.1A CN201811612201A CN109747651A CN 109747651 A CN109747651 A CN 109747651A CN 201811612201 A CN201811612201 A CN 201811612201A CN 109747651 A CN109747651 A CN 109747651A
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Abstract
The embodiment of the present application discloses a kind of control method for vehicle, apparatus and system, first acquisition current vehicle speed parameter value and vehicle acceleration parameter value, i.e. vehicle values for actual speed and actual acceleration parameter value.Target velocity parameter value and car speed parameter value are subtracted each other again, difference is inputted in the first PID controller, obtains aimed acceleration parameter value.Aimed acceleration parameter value and vehicle acceleration parameter value are subtracted each other again, difference is inputted into the second PID controller, obtains the control amount of control vehicle.It can be seen that, in the embodiment of the present application, the implementing result of the control amount of second PID controller output is fed back into the first PID controller and the second PID controller respectively, PID controller is allowed to find the error between target value and actual value in time by double feedback systems, and reduce tracking error, it to improve tracking accuracy, realizes and the driving strategy to match is obtained according to the real-time running state of vehicle, improve driving experience.
Description
Technical field
This application involves automatic control technology fields, and in particular to a kind of control method for vehicle, apparatus and system.
Background technique
With the continuous development of automotive engineering, automatic Pilot technology is by very big concern.Autonomous driving vehicle is by artificial
The equipment such as intelligence, vision calculating, radar and positioning system allow computer can be under the operation of nobody class active, certainly
It is dynamic safely to operate motor vehicles.
In practical applications, vehicle passes through ratio-product by acquisition ambient condition information and self-operating status information
Point-differential (Proportion Integration Differentiation, PID) controller, to obtain and currently run shape
The driving strategy that state matches.However, there are more disturbing factors, will affect PID control since present traffic environment is complicated
The tracking error of device, and then the tracking accuracy and stability of PID controller are influenced, and vehicle controls target in the process of moving and needs
It often to convert, this puts forward higher requirements the dynamic property of controller.And traditional algorithm can not in face of this application scenarios
Demand for control is fully met, causes vehicle that can not obtain optimal driving strategy.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of control method for vehicle, apparatus and system, tandem is utilized to realize
PID controller, to tracking, improves tracking accuracy, to vehicle position information and velocity information to more accurately control vehicle
Operation.
To solve the above problems, technical solution provided by the embodiments of the present application is as follows:
The embodiment of the present application first aspect provides a kind of control method for vehicle, and this method may include:
Obtain car speed parameter value and vehicle acceleration parameter value that processor returns；
The difference of target velocity parameter value and the car speed parameter value is inputted into the first PID controller, obtains target
Acceleration parameter value；
The difference of the aimed acceleration parameter value and the vehicle acceleration parameter value is inputted into the second PID controller,
Obtain control amount；The control amount includes throttle parameter value or braking parameters value；
The vehicle movement is controlled using the control amount.
In one possible implementation, first PID controller and second PID controller are anti-saturation
Controller, the method also includes:
Judge whether first PID controller meets integral saturation conditions；
If it is, clamping down on integral term using integral clamper；
Judge whether second PID controller meets integral saturation conditions；
If it is, clamping down on integral term using the integral clamper.
It is in one possible implementation, described to judge whether first PID controller meets integral saturation conditions,
Include:
The aimed acceleration parameter value is inputted into the corresponding saturation function of first PID controller, obtains the first ginseng
Numerical value；
Judge whether first parameter value and the aimed acceleration parameter value are equal；
If it is not, then judging that target velocity parameter value and the difference symbol of the car speed parameter value add with the target
Whether velocity parameter values symbol is identical；The symbol is sign；
If it is, determining that first PID controller meets integral saturation conditions.
It is in one possible implementation, described to judge whether second PID controller meets integral saturation conditions,
Include:
The control amount is inputted into the corresponding saturation function of second PID controller, obtains the second parameter value；
Judge whether second parameter value is equal with the control amount；
If it is not, then judge aimed acceleration parameter value and vehicle acceleration parameter value difference symbol and the control amount
Whether symbol is identical；The symbol is sign；
If it is, determining that second PID controller meets integral saturation conditions.
It is in one possible implementation, described to clamp down on integral term using integral clamper, comprising:
0 is set by the integral term parameter of first PID controller；
0 is set by the integral term parameter of second PID controller.
It is in one possible implementation, described to control the vehicle movement using the control amount, comprising:
When the control amount is positive value, given it the gun using control amount control drive system；The control
Throttle parameter value is indicated when amount is positive value；
When the control amount is negative value, Reduced Speed Now is carried out using control amount control braking system；The control
Braking parameters value is indicated when amount is negative value.
The embodiment of the present application second aspect provides a kind of controller of vehicle, the apparatus may include:
First acquisition unit, for obtaining the car speed parameter value and vehicle acceleration parameter value of processor return；
Second acquisition unit, for the difference of target velocity parameter value and the car speed parameter value to be inputted first
PID controller obtains aimed acceleration parameter value；
Third acquiring unit, for the difference of the aimed acceleration parameter value and the vehicle acceleration parameter value is defeated
Enter the second PID controller, obtains control amount；The control amount includes throttle parameter value or braking parameters value
Control unit, for controlling the vehicle movement using the control amount.
In one possible implementation, first PID controller and second PID controller are anti-saturation
Controller, described device further include:
First judging unit, for judging whether first PID controller meets integral saturation conditions；
First clamps down on unit, if the judging result for first judging unit is yes, utilization integral clamper
Clamp down on integral term；
Second judgment unit, for judging whether second PID controller meets integral saturation conditions；
Second clamps down on unit, if the judging result for the second judgment unit be it is yes, utilize the integral pincers
Position device clamps down on integral term.
In one possible implementation, first judging unit, comprising:
First input subelement, it is corresponding for the aimed acceleration parameter value to be inputted first PID controller
Saturation function obtains the first parameter value；
First judgment sub-unit, for judging whether first parameter value and the aimed acceleration parameter value are equal；
Second judgment sub-unit, if the judging result for first judgment sub-unit be it is no, judge target speed
It spends parameter value and whether the difference symbol of the car speed parameter value and the aimed acceleration parameter value symbol is identical；It is described
Symbol is sign；
First determines subelement, if the judging result for second judgment sub-unit is yes, it is determined that described the
One PID controller meets integral saturation conditions.
In one possible implementation, the second judgment unit, comprising:
Second input subelement is obtained for the control amount to be inputted the corresponding saturation function of second PID controller
Obtain the second parameter value；
Third judgment sub-unit, for judging whether second parameter value is equal with the control amount；
4th judgment sub-unit, if the judging result for the third judgment sub-unit be it is no, judge that target adds
Whether velocity parameter values and the difference symbol of vehicle acceleration parameter value and the control quantity symbol are identical；The symbol is positive and negative
Number；
Second determines subelement, if the judging result for the 4th judgment sub-unit is yes, it is determined that described the
Two PID controllers meet integral saturation conditions.
In one possible implementation, described first unit is clamped down on, specifically for by first PID controller
Integral term parameter is set as 0；
Described second clamps down on unit, specifically for setting 0 for the integral term parameter of second PID controller.
In one possible implementation, described control unit is specifically used for utilizing when the control amount is positive value
The control amount control drive system is given it the gun；Throttle parameter value is indicated when the control amount is positive value；
When the control amount is negative value, Reduced Speed Now is carried out using control amount control braking system；The control
Braking parameters value is indicated when amount is negative value.
The embodiment of the present application third aspect provides a kind of vehicle control system, which may include:
First controller PID, the difference of the car speed parameter value for being returned according to target velocity parameter value and processor
Value, which calculates, obtains aimed acceleration parameter value；
Second controller PID, the vehicle for being returned according to the aimed acceleration parameter value and the processor accelerate
The difference for spending parameter value, which calculates, obtains control amount；
Processor obtains the car speed parameter value and vehicle acceleration ginseng for calculating according to the control amount
Numerical value.
The embodiment of the present application fourth aspect provides a kind of computer-readable medium, the computer readable storage medium storing program for executing
In be stored with instruction, when described instruction is run on the terminal device so that the terminal device execute first aspect described in
Control method for vehicle.
The 5th aspect of the embodiment of the present application, provides a kind of computer program product, the computer program product is at end
When being run in end equipment, so that the terminal device executes control method for vehicle described in first aspect.
It can be seen that the embodiment of the present application has the following beneficial effects:
The embodiment of the present application obtains current vehicle speed parameter value and vehicle acceleration parameter value, the i.e. practical speed of vehicle first
Angle value and actual acceleration value.Target velocity parameter value and car speed parameter value are subtracted each other again, difference is inputted into the first PID control
In device processed, aimed acceleration parameter value is obtained.Aimed acceleration parameter value and vehicle acceleration parameter value are subtracted each other again, by difference
The second PID controller is inputted, the control amount of control vehicle is obtained.As it can be seen that in the embodiment of the present application, the second PID controller is defeated
The implementing result of control amount out feeds back to the first PID controller and the second PID controller respectively, is made by double feedback systems
Target value and the error before actual value can be found in time by obtaining PID controller, and reduce tracking error, to improve tracking
Precision is realized and obtains the driving strategy to match according to the real-time running state of vehicle, and driving experience is improved.In addition, cascade PID
With good dynamic property and robustness, system can be made more quickly and smoothly to adjust to control mesh under external disturbance
Mark.
Detailed description of the invention
Fig. 1 is a kind of vehicle control system structure chart provided by the embodiments of the present application；
Fig. 2 is a kind of control method for vehicle flow chart provided by the embodiments of the present application；
Fig. 3 is that integral provided by the embodiments of the present application is saturated schematic diagram；
Fig. 4 is saturation function schematic diagram provided by the embodiments of the present application；
Fig. 5 is a kind of structure chart of controller of vehicle provided by the embodiments of the present application.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Mode is applied to be described in further detail the embodiment of the present application.
Control method for vehicle provided by the embodiments of the present application for ease of understanding, below by first to the background technique of the application into
Row explanation.
Inventor has found that traditional vehicle control uses single-stage PID control in traditional control method for vehicle research
Device controls the speed of vehicle, and due to the hysteresis quality of speed variation, it is longer to will lead to the PID controller response time.Moreover,
Output control amount changes greatly, more sensitive to error disturbance, is unable to satisfy and steadily controls progress vehicle.
Based on this, the embodiment of the present application provides a kind of control method for vehicle and device, which is applied to tandem
PID controller, first acquisition current vehicle actual speed parameter value and actual acceleration parameter value, by preset target speed
Degree parameter value makes the difference with car speed parameter value, and difference is inputted in the first PID controller, obtains aimed acceleration parameter value.
The aimed acceleration parameter value and vehicle acceleration parameter value are made the difference in the second PID controller of input again, obtain control amount, with
Vehicle is controlled using the control amount, until the error of mesh velocity parameter values and car speed parameter value meets default item
Part.That is, the application carries out speed control and Acceleration Control by two cas PID control devices respectively, pass through double feedback systems
Reduce tracking error, improves tracking accuracy.
Wherein, the working principle of PID controller is that collected data and a reference value are compared, then sharp
New input value is calculated with difference, which can allow the data of system to reach or be maintained at reference value, i.e., originally
Target position parameter value and target velocity parameter value in application.Different with other simple control operations, PID controller can
To adjust input value according to practical implementing result, so that system is more accurate, it is more stable.
Technical solution provided by the present application for ease of understanding below first says vehicle control system provided by the present application
It is bright.
Referring to Fig. 1, which is that the application implements a kind of vehicle control system structure chart provided, as shown in Figure 1, the system
It may include: the first PID controller 10, the second PID controller 20 and processor 30.
First controller PID10, for according to target velocity parameter value and the car speed parameter value of processor return
Difference, which calculates, obtains aimed acceleration parameter value.
In specific implementation, processor 30 can be obtained according to the control amount calculating of the last second PID controller output
Current vehicle actual speed parameter value V2 is obtained, and returns to the car speed parameter value.Then target velocity parameter value V1 is subtracted
V2 obtains position difference Ve, which is inputted in the first PID controller, obtains aimed acceleration parameter value a2.Wherein, mesh
Mark parameter value is pre-set setting value, using the difference Control PID controller of setting value and value of feedback, so that value of feedback
To greatest extent close to setting value.
Second controller PID20, the vehicle acceleration parameter for being returned according to aimed acceleration parameter value and processor
The difference of value, which calculates, obtains control amount.
In specific implementation, the control amount that processor 30 is exported according to the second PID controller calculates and obtains current vehicle
Acceleration parameter value a1, and return to a1.Aimed acceleration parameter value a2 and vehicle acceleration parameter value a1 are subtracted each other into acquisition speed
Velocity error ae is inputted the second PID controller, to obtain final control amount by error ae.
Processor 30 obtains vehicle position parameter value and car speed parameter value for calculating according to control amount.
In the present embodiment, control amount can be throttle parameter value or braking parameters value, the control that processor 30 can will acquire
Amount processed acts on drive system or braking system, obtains the current location parameter value and speed parameter of vehicle according to exercising result
Value.
In specific implementation, processor 30 may include measuring unit (Inertial measurement unit, IMU),
The velocity parameter values of current vehicle are calculated using the measuring unit.
Control method for vehicle provided by the embodiments of the present application for ease of understanding, below in conjunction with attached drawing to the control method into
Row explanation.
Referring to fig. 2, which is a kind of control method for vehicle flow chart provided by the embodiments of the present application, as shown in Fig. 2, the party
Method may include:
S201: car speed parameter value and vehicle acceleration parameter value that processor returns are obtained.
In the present embodiment, for the input for obtaining the first PID controller, first the car speed parameter of acquisition processor return
Value and vehicle acceleration parameter value.Wherein, processor return car speed parameter value and vehicle acceleration parameter value be by
Reason device is obtained according to the control amount that the second PID controller is exported.
In specific implementation, when vehicle just starts running, the car speed parameter value that processor returns is current vehicle
Actual parameter value.After vehicle driving, two PID controllers are started to work, and then processor can be according to the second PID control
The control amount of device output, which calculates, obtains car speed parameter value.
S202: the difference of target velocity parameter value and car speed parameter value is inputted into the first PID controller, obtains target
Acceleration parameter value.
In the present embodiment, target velocity parameter value can be preset, by target velocity parameter value and the vehicle of acquisition speed
Degree parameter value makes the difference, and difference is inputted in the first PID controller, to obtain aimed acceleration parameter value.
Wherein, target velocity parameter value it is expected vehicle speed achieved for indicating within a preset time.By with reality
Border car speed subtracts each other, and obtains the error of the two, which is inputted the first PID controller, exports aimed acceleration parameter value,
To make the speed of vehicle reach target velocity parameter value using the aimed acceleration parameter value.
For example, target velocity parameter value is V1, vehicle is controlled using the control amount of the second PID controller of last moment output
Traveling, obtains the actual speed V2 of implementing result vehicle, then difference Ve is input in the first PID controller, obtain target and add
Velocity parameter values a1.
S203: the difference of aimed acceleration parameter value and vehicle acceleration parameter value is inputted into the second PID controller, is obtained
Control amount.
In the present embodiment, the vehicle of aimed acceleration parameter value and the processor return exported by the first PID controller
Acceleration parameter value is subtracted each other, and difference is inputted the second PID controller, obtains control amount.Wherein, control amount includes throttle parameter
Value or braking parameters value.
It is understood that aimed acceleration parameter value is the acceleration that desired vehicle reaches, and the vehicle that processor returns
Acceleration parameter value is vehicle actual acceleration, by the difference of the two come so that the corresponding control of the second PID controller output
Amount processed controls vehicle.When aimed acceleration parameter value is greater than vehicle acceleration parameter value, then the control amount exported is
Throttle parameter value, so that vehicle gives it the gun；When aimed acceleration parameter value is less than vehicle acceleration parameter value, then export
Control amount be braking parameters value so that vehicle deceleration travel.
S204: vehicle movement is controlled using control amount.
In the present embodiment, vehicle master controller can be controlled vehicle according to the control amount that the 2nd PID is exported.Processing
Device obtains implementing result, that is, car speed parameter value and vehicle acceleration parameter value according to control amount, and respectively will be above-mentioned two
Parameter value feeds back to the first PID controller and the second PID controller, to carry out the control of subsequent time, until processor obtains
The error of the car speed parameter value and target velocity parameter value that obtain meets preset condition, which can be according to practical fortune
Market condition is set.
In specific implementation, vehicle can be controlled according to the positive negative characteristic of control amount, when control amount is positive value,
It is expressed as throttle parameter value, then is given it the gun using control amount control drive system；When control amount is negative value, it is expressed as
Braking parameters value then carries out Reduced Speed Now using control amount control braking system, accurately controls vehicle according to control amount to realize
Driving status.
Through the foregoing embodiment it is found that the embodiment of the present application obtains current vehicle speed parameter value and vehicle acceleration first
Parameter value, i.e. vehicle values for actual speed and actual acceleration value.Subtracted each other by target velocity parameter value and car speed parameter value, it will
Difference inputs in the first PID controller, obtains aimed acceleration parameter value.Again by aimed acceleration parameter value and vehicle acceleration
Parameter value subtracts each other, and difference is inputted the second PID controller, obtains the control amount of control vehicle.As it can be seen that in the embodiment of the present application,
The implementing result of the control amount of second PID controller output is fed back into the first PID controller and the second PID control respectively
Device, the error before allowing PID controller to find target value and actual value in time by double feedback systems, and reduce with
Track error realizes the driving strategy to match according to the acquisition of the real-time running state of vehicle to improve tracking accuracy, and raising is driven
Sail experience.In addition, cascade PID has good dynamic property and robustness, system can be kept quicker under external disturbance
It adjusts with stable to control target.
It will be appreciated by persons skilled in the art that have the generally existing integral saturation problem of the controller of integral characteristic,
It is exactly that, as long as this controller deviation does not disappear, output will be (maximum or most to two extreme positions by the polarity of deviation
It is small) direction change.Integral saturation (Integral windup or integrator windup) refer to PID controller or its
He has the phenomenon in the controller of integrator, refers to that error is (such as being significantly increased) in a substantial change, and integrator is because of error
Very big cumulative amount is significantly increased, therefore causes to overshoot, and when error becomes negative, overshoot still maintains a period of time
Just restore normal situation afterwards.
Referring to Fig. 3, when controller output reaches defined upper and lower limit, actuator is in a saturated state, i.e. PID control
The output of device processed continues growing, and actuator will not continue to act.Once control system disturbs, make the polarity of control deviation
Become anti-, the output of controller will be exited slowly from saturation region, until that actuator could be made to work in range of signal.That is,
The P1 point that control system starts working is fallen back on from P2 point, to delay the run duration from P2 point to P1 point, i.e., in T1 to T2's
In time, control system cuts little ice.
Based on this, to avoid PID controller integral saturation from causing actuator that can not timely respond to, in a kind of possible realization
In mode, proposing influences using brought by integral clamper processing PID controller integral saturation.Specifically, described first
PID controller and/second PID controller are anti-saturation controller, the method also includes: judge the first PID
Whether controller meets integral saturation conditions；If it is, clamping down on integral term using integral clamper；Judge the 2nd PID
Whether controller meets integral saturation conditions；If it is, clamping down on integral term using integral clamper.
In the present embodiment, integral saturation whether can be met with the first PID controller of real-time detection and the second PID controller
Condition, if it is satisfied, then integral term is clamped down on using integral clamper, to avoid causing actuator timely because of integral saturation
Respond the output of PID controller.
In specific implementation, the reality for judging whether the first PID controller meets integral saturation conditions is present embodiments provided
The aimed acceleration parameter value is inputted the corresponding saturation function of first PID controller, obtains the first parameter by existing mode
Value；Judge whether first parameter value and the aimed acceleration parameter value are equal；If it is not, then judging target velocity parameter
It is worth whether identical as the difference symbol of the car speed parameter value and the aimed acceleration parameter value symbol；The symbol is
Sign；If it is, determining that first PID controller meets integral saturation conditions.
In practical application, it is corresponding that the target velocity parameter value that the first PID controller exports is inputted the PID controller
In saturation function, to obtain the output valve of the saturation function, i.e. then whether the first parameter value compares input value and output valve
It is equal, if equal, show that the output of the first PID controller does not reach integral saturation；If unequal, show first
The output of PID controller reaches integral saturation state, meanwhile, also need input (the target velocity ginseng for judging the first PID controller again
The difference symbol of numerical value and car speed parameter value) it is whether identical as output (aimed acceleration parameter value symbol), if identical,
Show that the output of the first PID controller is continuing to increase.Since current first PID controller has reached integral saturation state, such as
The output of the first PID controller of fruit continues to increase, and will lead to actuator cannot respond to export, then needs to control the first PID at this time
Device processed is clamped down on.For example, if the input of the first PID controller is positive value, output is also positive value shown in Fig. 3, show first
The output of PID controller is the case where continuing to increase, occurring more than workspace.If the input of the first PID controller is positive value,
Output is negative value, shows saturation region to be exited, then without being clamped down on.
Wherein, the corresponding saturation function of the first PID controller can be carried out according to the real work performance of the PID controller
Setting.Such as saturation function shown in Fig. 4, it is defeated when saturation function by input of the output as saturation function of PID controller
When being worth identical as input value out, then show that PID controller not up to integrates saturation, otherwise, PID controller reaches integral saturation shape
State.
It similarly, is that control amount is inputted into the corresponding saturation letter of the second PID controller for the judgement of the second PID controller
Number obtains the second parameter value；Judge whether the second parameter value is equal with control amount；If it is not, then judging aimed acceleration parameter
It is worth whether identical as the difference symbol of vehicle acceleration parameter value and control quantity symbol；The symbol is sign；If it is,
Determine that the second PID controller meets integral saturation conditions.
The control amount that the second PID controller exports is inputted in the corresponding saturation function of the PID controller, to obtain
Whether the output valve of the saturation function, i.e. the second parameter value, it is equal with output valve then to compare input value, if equal, shows
The output of second PID controller does not reach integral saturation；If unequal, show that the output of the second PID controller reaches
Saturation state is integrated, meanwhile, also needing the input symbol for judging the second PID controller again, (aimed acceleration parameter value adds with vehicle
The difference symbol of velocity parameter values) it is whether identical as output symbol (control quantity symbol), if identical, show the second PID control
The output of device is continuing to increase.Since current second PID controller has reached integral saturation state, if the second PID controller
Output continue to increase, will lead to actuator cannot respond to export, then needs to clamp down on the second PID controller at this time.
It should be noted that the corresponding saturation function of the second PID controller can also be according to the workability of practical controller
It can be carried out setting, the present embodiment is it is not limited here.
Based on above method embodiment, the embodiment of the present application provides a kind of controller of vehicle, below in conjunction with attached drawing
The device is illustrated.
Referring to Fig. 5, which is a kind of controller of vehicle structure chart provided by the embodiments of the present application, as shown in figure 5, the dress
It sets and may include:
First acquisition unit 501, for obtaining the car speed parameter value and car speed acceleration ginseng of processor return
Numerical value；
Second acquisition unit 502, for by the difference input of target velocity parameter value and the car speed parameter value the
One PID controller obtains aimed acceleration parameter value；
Third acquiring unit 503, for by the difference input of aimed acceleration parameter value and vehicle acceleration parameter value the
Two PID controllers obtain control amount；The control amount includes throttle parameter value or braking parameters value；
Control unit 504, for controlling the vehicle movement using the control amount.
In one possible implementation, first PID controller and second PID controller are anti-saturation
Controller, described device further include:
First judging unit, for judging whether first PID controller meets integral saturation conditions；
First clamps down on unit, if the judging result for first judging unit is yes, utilization integral clamper
Clamp down on integral term；
Second judgment unit, for judging whether second PID controller meets integral saturation conditions；
Second clamps down on unit, if the judging result for the second judgment unit be it is yes, utilize the integral pincers
Position device clamps down on integral term.
In one possible implementation, first judging unit, comprising:
First input subelement, it is corresponding for the aimed acceleration parameter value to be inputted first PID controller
Saturation function obtains the first parameter value；
First judgment sub-unit, for judging whether first parameter value and the aimed acceleration parameter value are equal；
Second judgment sub-unit, if the judging result for first judgment sub-unit be it is no, judge target speed
It spends parameter value and whether the difference symbol of the car speed parameter value and the aimed acceleration parameter value symbol is identical；It is described
Symbol is sign；
First determines subelement, if the judging result for second judgment sub-unit is yes, it is determined that described the
One PID controller meets integral saturation conditions.
In one possible implementation, the second judgment unit, comprising:
Second input subelement is obtained for the control amount to be inputted the corresponding saturation function of second PID controller
Obtain the second parameter value；
Third judgment sub-unit, for judging whether second parameter value is equal with the control amount；
4th judgment sub-unit, if the judging result for the third judgment sub-unit be it is no, judge that target adds
Whether velocity parameter values and the difference symbol of vehicle acceleration parameter value and the control quantity symbol are identical；The symbol is positive and negative
Number；
Second determines subelement, if the judging result for the 4th judgment sub-unit is yes, it is determined that described the
Two PID controllers meet integral saturation conditions.
In one possible implementation, described first unit is clamped down on, specifically for by first PID controller
Integral term parameter is set as 0；
Described second clamps down on unit, specifically for setting 0 for the integral term parameter of second PID controller.
In one possible implementation, described control unit is specifically used for utilizing when the control amount is positive value
The control amount control drive system is given it the gun；Throttle parameter value is indicated when the control amount is positive value；
When the control amount is negative value, Reduced Speed Now is carried out using control amount control braking system；The control
Braking parameters value is indicated when amount is negative value.
It should be noted that the specific implementation of modules may refer to embodiment of the method, the present embodiment in the present embodiment
Details are not described herein.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, the computer readable storage medium
Instruction is stored in matter, when described instruction is run on the terminal device, so that the terminal device executes above-mentioned vehicle control
Method processed.
The embodiment of the present application provides a kind of computer program product, and the computer program product is transported on the terminal device
When row, so that the terminal device executes the control method for vehicle.
By foregoing description, the embodiment of the present application obtains current vehicle speed parameter value and vehicle acceleration parameter first
Value, i.e. vehicle values for actual speed and actual acceleration value.Subtracted each other by target velocity parameter value and car speed parameter value, by difference
It inputs in the first PID controller, obtains aimed acceleration parameter value.Again by aimed acceleration parameter value and vehicle acceleration parameter
Value is subtracted each other, and difference is inputted the second PID controller, obtains the control amount of control vehicle.As it can be seen that in the embodiment of the present application, by
The implementing result of the control amount of two PID controllers output feeds back to the first PID controller and the second PID controller respectively, leads to
Crossing double feedback systems allows PID controller to find the error before target value and actual value in time, and reduces tracking and miss
Difference is realized to improve tracking accuracy and obtains the driving strategy to match according to the real-time running state of vehicle, improves and drives body
It tests.In addition, cascade PID has good dynamic property and robustness, system can be made more quickly peaceful under external disturbance
Steady adjusts to control target.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality
For applying system or device disclosed in example, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, phase
Place is closed referring to method part illustration.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that the described method includes:
Obtain car speed parameter value and vehicle acceleration parameter value that processor returns；
The difference of target velocity parameter value and the car speed parameter value is inputted into the first PID controller, target is obtained and accelerates
Spend parameter value；
The difference of the aimed acceleration parameter value and the vehicle acceleration parameter value is inputted into the second PID controller, is obtained
Control amount；The control amount includes throttle parameter value or braking parameters value；
The vehicle movement is controlled using the control amount.
2. the method according to claim 1, wherein first PID controller and second PID controller
It is anti-saturation controller, the method also includes:
Judge whether first PID controller meets integral saturation conditions；
If it is, clamping down on integral term using integral clamper；
Judge whether second PID controller meets integral saturation conditions；
If it is, clamping down on integral term using the integral clamper.
3. according to the method described in claim 2, it is characterized in that, described judge whether first PID controller meets product
Divide saturation conditions, comprising:
The aimed acceleration parameter value is inputted into the corresponding saturation function of first PID controller, obtains the first parameter value；
Judge whether first parameter value and the aimed acceleration parameter value are equal；
If it is not, then judging the difference symbol and the aimed acceleration of target velocity parameter value and the car speed parameter value
Whether parameter value symbol is identical；The symbol is sign；
If it is, determining that first PID controller meets integral saturation conditions.
4. according to the method described in claim 2, it is characterized in that, described judge whether second PID controller meets product
Divide saturation conditions, comprising:
The control amount is inputted into the corresponding saturation function of second PID controller, obtains the second parameter value；
Judge whether second parameter value is equal with the control amount；
If it is not, then judging the difference symbol and the control quantity symbol of aimed acceleration parameter value and vehicle acceleration parameter value
It is whether identical；The symbol is sign；
If it is, determining that second PID controller meets integral saturation conditions.
5. according to the method described in claim 2, it is characterized in that, described clamp down on integral term using integral clamper, comprising:
0 is set by the integral term parameter of first PID controller；
0 is set by the integral term parameter of second PID controller.
6. the method according to any one of claims 1 to 5, which is characterized in that described to control institute using the control amount
State vehicle movement, comprising:
When the control amount is positive value, given it the gun using control amount control drive system；The control amount is
Throttle parameter value is indicated when positive value；
When the control amount is negative value, Reduced Speed Now is carried out using control amount control braking system；The control amount is
Braking parameters value is indicated when negative value.
7. a kind of controller of vehicle, which is characterized in that described device includes:
First acquisition unit, for obtaining the car speed parameter value and vehicle acceleration parameter value of processor return；
Second acquisition unit, for the difference of target velocity parameter value and the car speed parameter value to be inputted the first PID control
Device processed obtains aimed acceleration parameter value；
Third acquiring unit, for by the difference input of the aimed acceleration parameter value and the vehicle acceleration parameter value the
Two PID controllers obtain control amount；The control amount includes throttle parameter value or braking parameters value
Control unit, for controlling the vehicle movement using the control amount.
8. a kind of vehicle control system, which is characterized in that the system comprises:
First controller PID, based on according to the difference of target velocity parameter value and the car speed parameter value of processor return
It calculates and obtains aimed acceleration parameter value；
Second controller PID, the vehicle acceleration for being returned according to the aimed acceleration parameter value and the processor are joined
The difference of numerical value, which calculates, obtains control amount；
Processor obtains the car speed parameter value and the vehicle acceleration parameter for calculating according to the control amount
Value.
9. a kind of computer readable storage medium, which is characterized in that it is stored with instruction in the computer readable storage medium storing program for executing, when
When described instruction is run on the terminal device, so that the terminal device perform claim requires vehicle described in 1-6 any one
Control method.
10. a kind of computer program product, which is characterized in that when the computer program product is run on the terminal device, make
It obtains the terminal device perform claim and requires the described in any item control method for vehicle of 1-6.
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| CN111219258A (en) * | 2020-03-04 | 2020-06-02 | 中国科学院工程热物理研究所 | PI controller design method for preventing integral saturation in engine control strategy switching |
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