CN110466531B - Vehicle driving control method and system and vehicle - Google Patents

Vehicle driving control method and system and vehicle Download PDF

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Publication number
CN110466531B
CN110466531B CN201910816607.XA CN201910816607A CN110466531B CN 110466531 B CN110466531 B CN 110466531B CN 201910816607 A CN201910816607 A CN 201910816607A CN 110466531 B CN110466531 B CN 110466531B
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vehicle
acceleration
distance
remaining
time
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CN110466531A (en
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陈集辉
孙崇尚
李弼超
张超昱
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Abstract

The embodiment of the invention discloses a vehicle running control method and system and a vehicle, which are applied to the technical field of vehicles and can solve the problem that the vehicle cannot be accurately controlled to stop at a specified position. The method comprises the following steps: after the braking control request is obtained, obtaining the remaining parking distance and the vehicle speed of the vehicle, wherein the remaining parking distance is the distance between the position where the vehicle is located and the target parking position; calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model; controlling the vehicle to run according to the acceleration slope value; the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable.

Description

Vehicle driving control method and system and vehicle
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle and a driving control method and system thereof.
Background
In the automatic driving technique, it is generally necessary to control the vehicle to stop at a specified stop position in order to avoid collision with an obstacle. It is now common to control vehicle stopping by a calibrated speed value and acceleration ramp rate. In practical application, since the vehicle can only be controlled to stop according to the speed value and the acceleration slope calibrated in advance during braking, and there may be an error between the actual speed value and the acceleration slope of the vehicle and the calibrated value, the vehicle may stop in advance when braking and stopping, or may stop in a delayed manner, so that the vehicle cannot be precisely controlled to stop at a specified position.
Disclosure of Invention
The embodiment of the invention provides a method and a system for inhibiting ultrasonic self-interference and a vehicle, which are used for solving the problem that the vehicle cannot be accurately controlled to stop at a specified position in the prior art. In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:
in a first aspect, there is provided a running control method of a vehicle, including: after the braking control request is obtained, obtaining the remaining parking distance and the vehicle speed of the vehicle, wherein the remaining parking distance of the vehicle is the distance between the position where the vehicle is located and the target parking position;
calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model;
controlling the vehicle to run at the acceleration slope value;
the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, the parking distance model is a formula one as follows:
Figure BDA0002186517860000011
wherein s istIndicating a driving distance from an initial time to a time t after the vehicle responds to the braking control request, wherein the initial time is the time for acquiring the remaining stopping distance and the vehicle speed; v. of0Representing the speed of said initial moment, a0Represents the acceleration at the initial time, and r represents the acceleration gradient of the vehicle.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the parking distance model is the following formula two:
Figure BDA0002186517860000021
wherein s istIndicating that the vehicle is responding to the brakingRemaining stopping distance, v, at time t after control requesttRepresenting the vehicle speed of the vehicle at a time T, T representing the control period of the vehicle, r representing the acceleration slope of the vehicle, T1Representing the total time, v, between the vehicle's response to the brake control request and the vehicle's stopping0Indicating an initial speed at which the vehicle begins to respond to the braking control request.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed, and a preset parking distance model includes:
and after the braking system of the vehicle responds to the braking request, substituting the remaining parking distance and the vehicle speed into the parking distance model, and calculating the acceleration slope value of the vehicle.
As an alternative implementation, in the first aspect of the embodiment of the present invention, the calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed, and a preset parking distance model includes:
calculating a remaining response delay distance of the vehicle according to the vehicle speed and a remaining response time of a braking system of the vehicle before the braking system of the vehicle responds to the braking request;
adding the remaining parking distance to the remaining response delay distance to obtain a first remaining parking distance;
and substituting the first remaining parking distance and the vehicle speed into the parking distance model, and calculating the acceleration slope value of the vehicle.
In a second aspect, there is provided a running control system for a vehicle, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the remaining parking distance and the vehicle speed of a vehicle after acquiring a braking control request, and the remaining parking distance of the vehicle is the distance between the position where the vehicle is located and a target parking position;
the calculation module is used for calculating the acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model;
the control module is used for controlling the vehicle to run according to the acceleration slope value;
the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the parking distance model is a formula one as follows:
Figure BDA0002186517860000031
wherein s istIndicating a driving distance from an initial time to a time t after the vehicle responds to the braking control request, wherein the initial time is the time for acquiring the remaining stopping distance and the vehicle speed; v. of0Representing the speed of said initial moment, a0Represents the acceleration at the initial time, and r represents the acceleration gradient of the vehicle.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the parking distance model is the following formula two:
Figure BDA0002186517860000032
wherein s istIndicating a remaining stopping distance, v, of the vehicle at time t after responding to the braking control requesttRepresenting the vehicle speed of the vehicle at a time T, T representing the control period of the vehicle, r representing the acceleration slope of the vehicle, T1Representing the total time, v, between the vehicle's response to the brake control request and the vehicle's stopping0Indicating an initial speed at which the vehicle begins to respond to the braking control request.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the calculating module is specifically configured to, after obtaining the remaining parking distance and the vehicle speed of the vehicle and the braking system of the vehicle responds to the braking request, substitute the remaining parking distance and the vehicle speed into the parking distance model, and calculate the acceleration slope value of the vehicle.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the calculating module is configured to calculate the remaining response delay distance of the vehicle according to the vehicle speed and the remaining response time of the brake system of the vehicle before the brake system of the vehicle responds to the braking request after acquiring the remaining stopping distance and the vehicle speed of the vehicle;
adding the remaining parking distance to the remaining response delay distance to obtain a first remaining parking distance;
and substituting the first remaining parking distance and the vehicle speed into the parking distance model, and calculating the acceleration slope value of the vehicle.
In a third aspect, there is provided a running control system for a vehicle, comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling travel of a vehicle according to the first aspect.
In a fourth aspect, a vehicle is provided, the vehicle comprising: the running control system of a vehicle according to a second aspect.
In a fifth aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the travel control method for a vehicle according to the first aspect
A sixth aspect provides a computer program product which, when run on a computer, causes the computer to execute the steps of the running control method of the vehicle according to the first aspect
In a seventh aspect, an application distribution platform is provided, which is used for distributing a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the driving control method of the vehicle according to the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, after the braking control request is obtained, the remaining parking distance (i.e. the distance between the position where the vehicle is located and the target parking position) and the vehicle speed of the vehicle can be obtained; calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model; controlling the vehicle to run according to the acceleration slope value; the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable. According to the scheme, after the braking control request is obtained, the acceleration slope value of the vehicle can be calculated through the parking distance model in real time according to the remaining parking distance and the vehicle speed of the vehicle, and the vehicle is controlled according to the calculated acceleration slope value, so that the vehicle can be accurately controlled to run in real time according to the calculated acceleration slope value, and the vehicle can be accurately parked at the target parking point.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first flowchart illustrating a first method for controlling the driving of a vehicle according to an embodiment of the present invention;
FIG. 2 is a second flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present invention;
FIG. 3 is a third schematic flowchart of a method for controlling the driving of a vehicle according to an embodiment of the present invention;
FIG. 4 is a first schematic structural diagram of a driving control system of a vehicle according to an embodiment of the present invention;
FIG. 5 is a second schematic structural diagram of a vehicle driving control system according to an embodiment of the present invention;
fig. 6 is a third schematic structural diagram of a vehicle travel control system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects.
The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
The embodiment of the invention provides a vehicle running control method, a vehicle running control system and a vehicle, which can acquire the remaining parking distance (namely the distance between the position where the vehicle is located and a target parking position) and the vehicle speed of the vehicle after acquiring a braking control request; calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model; controlling the vehicle to run according to the acceleration slope value; the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable. According to the scheme, after the braking control request is obtained, the acceleration slope value of the vehicle can be calculated through the parking distance model in real time according to the remaining parking distance and the vehicle speed of the vehicle, and the vehicle is controlled according to the calculated acceleration slope value, so that the vehicle can be accurately controlled to run in real time according to the calculated acceleration slope value, and the vehicle can be accurately parked at the target parking point.
The following embodiments exemplify a travel control method for a vehicle according to an embodiment of the present invention, taking as an example a travel control system for a vehicle, which is an execution subject of the travel control method for a vehicle according to an embodiment of the present invention.
The vehicle running control method provided by the embodiment of the invention can be applied to application scenes such as automatic driving and automatic parking, which need to control the braking and the parking of the vehicle, and the vehicle starting control method can be applied to electric automobiles.
Example one
As shown in fig. 1, an embodiment of the present invention provides a method for controlling the running of a vehicle, which may include the steps of:
101. after the brake control request is acquired, the remaining stopping distance and the vehicle speed of the vehicle are acquired.
And the remaining parking distance of the vehicle is the distance between the position of the vehicle and the target parking position. Alternatively, the remaining parking distance of the vehicle may be a distance of a driving path between the planned position of the vehicle and the target parking position.
Optionally, in the embodiment of the present invention, the target parking position may be a preset certain parking position, and the target parking position may also be a target parking position determined according to a position where an obstacle is located when the vehicle detects the obstacle.
Optionally, the remaining parking distance may be calculated according to a pre-planned path, a current position of the vehicle, and a target parking position; the remaining parking distance may be determined according to a preset parking distance model, a current vehicle speed of the vehicle, and a current actual acceleration slope of the vehicle, which will be described below.
102. And calculating the acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model.
The parking distance model is a mathematical model obtained by integrating the vehicle speed of the vehicle with time as a variable.
In the embodiment of the present invention, the acceleration slope may be used to characterize a variation of the acceleration in a unit time.
Optionally, in the embodiment of the present invention, the parking distance model may be a first formula:
Figure BDA0002186517860000071
wherein, s in the formula ItIndicating a driving distance from an initial time to a time t after the vehicle responds to the braking control request, wherein the initial time is the time for acquiring the remaining stopping distance and the vehicle speed; v. of0Representing the speed of said initial moment, a0Represents the acceleration at the initial time, and r represents the acceleration gradient of the vehicle.
Optionally, in the embodiment of the present invention, the parking distance model is represented by the following formula two:
Figure BDA0002186517860000072
Figure BDA0002186517860000073
wherein, s in the formula IItIndicating the remaining stopping distance, v, of the vehicle at time t after responding to the braking control requesttRepresenting the vehicle speed of the vehicle at time T, T representing the control period of the vehicle, r representing the acceleration slope of the vehicle, T1Indicating that the vehicle is responding to a braking control request toTotal time between vehicle stops, v0Indicating the initial speed at which the vehicle begins to respond to the brake control request.
In this embodiment of the present invention, the foregoing 102 may specifically include the following two optional implementation manners:
in a first alternative implementation, after the braking system of the vehicle responds to the braking request, the driving control system of the vehicle may substitute the acquired remaining stopping distance and vehicle speed into the stopping distance model (formula one or two) to calculate the acceleration slope value of the vehicle.
In the first optional implementation manner, the method is suitable for acquiring the remaining parking distance and the vehicle speed after the brake system of the vehicle responds to the braking request.
In a second alternative implementation, before the brake system of the vehicle responds to the braking request, the remaining response delay distance of the vehicle may be calculated according to the vehicle speed and the remaining response time of the brake system of the vehicle; adding the remaining parking distance to the remaining response delay distance to obtain a first remaining parking distance; and then substituting the first remaining parking distance and the vehicle speed into a parking distance model (formula one or two) to calculate the acceleration slope value of the vehicle.
In the second optional implementation manner, the method is adapted to obtain the remaining parking distance and the vehicle speed after obtaining the braking control request and before the braking system of the vehicle responds to the braking request, and the vehicle may have a remaining response delay distance, so that the remaining parking distance is added to the remaining response delay distance to obtain the first remaining parking distance; and then substituting the first remaining parking distance and the vehicle speed into a parking distance model to calculate the acceleration slope value of the vehicle.
Generally, after the vehicle obtains the braking control request and before the braking system of the vehicle responds to the braking request, a response time exists, after the current remaining stopping distance and the current vehicle speed are obtained, how much response time remains at the current moment can be calculated, and the remaining response delay distance can be calculated according to the remaining response time and the current vehicle speed of the vehicle.
Specifically, the remaining response delay distance may be a product of the remaining response time and the current vehicle speed.
The calculation of the amount of remaining response time at the current time may be obtained by adding the response time to the maximum response time, where the maximum response time is a time required for the brake system of the vehicle to actually respond to the brake control request from the enabling of the brake control request.
It should be noted that, in the embodiment of the present invention, since a certain time is required from the time when the braking system of the vehicle is enabled to actually respond to the braking control request, and the time can be considered that the vehicle is coasting at an initial speed (i.e., the speed when the braking control request is enabled), the maximum response time of the vehicle may be calibrated before the parking distance model is established.
Optionally, in the embodiment of the present invention, the acceleration slope range may also be calibrated.
Since the passengers feel strong impact when the vehicle is braked and if the vehicle decelerates too fast in a unit time, the stopping distance of the vehicle can be too long if the vehicle decelerates too slowly, and therefore a certain acceleration slope range needs to be calibrated to ensure the safety and comfort of driving.
Because each type of vehicle has different differences in vehicle weight, suspension system and the like, when the same acceleration slope acts on different series of vehicles, the actual acceleration slope of the vehicle is different, and the feeling of passengers on the vehicle is also different, so that each type of vehicle needs to be calibrated independently. Specifically, several vehicles of the same type may be used, by requesting the braking system to decelerate at different acceleration slopes, testing several sets of data (which may be actual acceleration data) with each acceleration slope, and then determining the acceleration slope range based on the applied speed data. And during testing, the testing is carried out by combining the working condition of comfortable braking and the working condition of emergency braking.
In the embodiment of the present invention, after 102, the driving control system of the vehicle may further determine whether the calculated acceleration slope is within the calibrated acceleration slope range, and adjust the calculated acceleration slope under the condition that the obtained acceleration slope is not within the calibrated acceleration slope range, so as to ensure that the acceleration slope of the vehicle is within the calibrated acceleration slope range, thereby ensuring the driving safety and comfort.
103. And controlling the vehicle to run by using the acceleration slope value.
In the embodiment of the present invention, when the acceleration slope value is calculated at 102, an acceleration value in a next control period may be calculated according to the calculated acceleration slope value and an acceleration value in a current control period of the vehicle, and the calculated acceleration value in the next control period is output to the braking system, and the braking system calculates a braking force to be applied according to the acceleration value and the current acceleration value of the vehicle, and performs braking according to the braking force, so as to control the vehicle to run by using the acceleration slope value.
In the method for controlling the vehicle to run provided by the embodiment of the present invention, after the braking control request is obtained, the remaining parking distance (i.e. the distance between the position where the vehicle is located and the target parking position) and the vehicle speed of the vehicle may be obtained; calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model, and controlling the vehicle to run according to the acceleration slope value; the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable. According to the scheme, after the braking control request is obtained, the acceleration slope value of the vehicle can be calculated through the parking distance model in real time according to the remaining parking distance and the vehicle speed of the vehicle, and the vehicle is controlled according to the calculated acceleration slope value, so that the vehicle can be accurately controlled to run in real time according to the calculated acceleration slope value, and the vehicle can be accurately parked at the target parking point.
Example two
In an alternative implementation manner, the whole process of braking and stopping the vehicle is regarded as a continuous variable deceleration process, and the parking distance model in the embodiment of the present invention may be a formula one:
Figure BDA0002186517860000101
Figure BDA0002186517860000102
as shown in fig. 2, a method for controlling the running of a vehicle according to an embodiment of the present invention includes the steps of:
201. the process that the vehicle is braked and stopped after responding to the braking control request is integrally regarded as a continuous variable deceleration process to acquire the speed v of the vehicle at the time tt。
The 201 can be specifically realized by the following 201a and 201 b:
201a, establishing an acceleration expression at the time t.
Firstly, assuming that the current acceleration slope is r, an acceleration expression at the time t can be established, namely the following formula three is: a ist＝a0+∫r dt＝a0+rt；
Wherein, atRepresenting the acceleration of the vehicle at time t, a0Indicating the acceleration at the initial moment.
201b obtaining a velocity expression v at time t from the acceleration expressiont。
For a in formula IIItThe integration is performed to obtain the formula four:
Figure BDA0002186517860000103
Figure BDA0002186517860000104
wherein v istRepresenting the speed of the vehicle at time t, v0Indicating the initial velocity.
202. With time from initial to t as variable pair vtAnd integrating to obtain a parking distance model.
Optionally, v in the above formula IVtAfter integration, it can be obtained
Figure BDA0002186517860000105
Figure BDA0002186517860000106
Due to the embodiment of the invention, the initial displacement s0Typically 0, and therefore the stopping distance model may be in the form of equation one above.
203. After the brake control request is acquired, the remaining stopping distance and the vehicle speed of the vehicle are acquired.
204. And calculating the acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model.
In the embodiment of the invention, the acceleration slope value of the vehicle can be calculated in two cases according to whether the brake system responds to the brake control request.
In the first case: the acceleration slope value of the vehicle is calculated without the braking system responding to the braking control request (i.e., before the braking system responds to the braking control request).
Initial acceleration a before the braking system responds to the braking control request0Is 0, so the above equation one can be expressed as:
Figure BDA0002186517860000111
suppose vtWhen the total time from the start of the braking system of the vehicle responding to the braking control request to the stop of the vehicle is 0, the following formula four is obtained:
Figure BDA0002186517860000112
where r' represents the acceleration slope requested for the previous control cycle of the vehicle.
In combination with the above-mentioned t1And stThe expression of (c) can be found in:
Figure BDA0002186517860000113
Figure BDA0002186517860000114
where v' represents the current vehicle speed of the vehicle, t2Is the maximum of the calibrated braking system of the vehicle in response to a braking control requestThe response time, t', is the time since the brake request signal was issued.
The acceleration slope can be obtained according to the formula:
Figure BDA0002186517860000115
is known at s and v', and t1Given this, a specific value of the acceleration slope can be obtained.
In the second case: the braking system has responded to the braking control request (i.e., after the braking system responds to the braking control request), and the acceleration slope value of the vehicle is calculated.
Because the current remaining parking distance can be used as input at each moment, the final speed is also 0; the acceleration measurement of the whole vehicle is from an Inertial Measurement Unit (IMU), and the measurement noise is larger, so that the acceleration request value of the previous control period can be used as the initial acceleration value of the remaining motion segment, and the following results are obtained: a is0Rt ". Where t "is the time since the braking system began responding to the braking control request.
Suppose vtWhen the time is equal to 0, the total time from the initial time to the vehicle stop is obtained according to the above equation four:
Figure BDA0002186517860000121
where r' represents the acceleration slope requested for the previous control cycle of the vehicle.
The remaining parking distance s of the vehicle can be calculated and can be obtained according to the first formula:
Figure BDA0002186517860000122
at known s, v' and t3In the case of (2), a specific value of the acceleration slope may be calculated.
205. And controlling the vehicle to run by using the acceleration slope value.
According to the vehicle running control method provided by the embodiment of the invention, the whole braking and parking process of the vehicle is regarded as a uniform deceleration process, the parking distance model is established, the acceleration slope of the vehicle can be accurately calculated in real time through the model, the vehicle is controlled to run according to the acceleration slope value calculated in real time, and the parking precision of the vehicle is improved.
EXAMPLE III
In an alternative implementation, the motion of the vehicle in each control cycle during the braking and stopping process is regarded as a uniform deceleration process, and the stopping distance model is represented by the formula two:
Figure BDA0002186517860000123
Figure BDA0002186517860000124
as shown in fig. 3, a method for controlling the running of a vehicle according to an embodiment of the present invention includes the steps of:
301. the motion of the vehicle in each control period after responding to the braking control request is equivalent to a uniform deceleration process so as to obtain the vehicle speed v of the vehicle at the time t after responding to the braking control requestt。
Alternatively, in the embodiment of the present invention, the 301 may be implemented by the following 301a, 301b, and 301 c.
301a, equation five is established.
The fifth formula is: a isn(n +1) rT. Wherein n is an integer greater than 0, and
Figure BDA0002186517860000125
t represents a period of time for which the vehicle responds to the brake control request, anRepresents the acceleration of the nth control cycle of the vehicle.
After the braking system responds, a request for actual vehicle acceleration is requested in control cycles of the order of milliseconds, with the acceleration value being fixed during each control cycle. The expression for acceleration can therefore be obtained by recursion for each control cycle.
301b, equation six is established.
The above mentionedThe sixth formula is: v. ofn＝vn-1+an-1And T. Wherein v isnIndicating the speed of the nth control cycle of the vehicle.
Specifically, when the expression of the speed in the nth control period is established again, the motion of the vehicle in each control period can be regarded as uniform deceleration motion, and the speed expression (i.e., formula six) is established in a recursion form:
velocity expression for the 1 st control cycle: v. of1＝v0+a0T；
Velocity expression for the 2 nd control cycle: v. of2＝v1+a1T；
……
Speed expression for the nth control period: v. ofn＝vn-1+an-1T。
301c, substituting the formula five into the formula six to obtain the formula seven.
The seventh formula is:
Figure BDA0002186517860000131
wherein v istRepresenting the vehicle speed, v, of the vehicle at time t0Indicating the initial speed at which the vehicle begins to respond to the brake control request.
Substituting the formula five into the formula six can firstly obtain the following formula eight:
Figure BDA0002186517860000132
then replace n in the above equation eight by n
Figure BDA0002186517860000133
After that, formula seven is obtained.
302. V is paired with the time from the time when the vehicle responds to the braking control request until the vehicle stopstAnd integrating to obtain a parking distance model.
Figure BDA0002186517860000134
t1Can be obtained by the above formula four. Specifically, since the final speed of the parking process is 0, it is possible to set v in the above equation 3tIs 0 and solves a quadratic equation of one element to solve t1Obtaining:
Figure BDA0002186517860000135
303. after the brake control request is acquired, the remaining stopping distance and the vehicle speed of the vehicle are acquired.
304. And calculating the acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model.
And combining the above t1And substituting the remaining parking distance and the vehicle speed into the parking distance model to obtain an acceleration slope value.
305. And controlling the vehicle to run by using the acceleration slope value.
For the descriptions 303 to 305, reference may be made to the descriptions 101 to 103 in the first embodiment, which are not described herein again.
According to the running control method of the vehicle provided by the embodiment of the invention, the motion of the vehicle in each control period in the braking and parking process is regarded as a uniform deceleration process, and compared with the situation that the whole braking and parking process of the vehicle is regarded as a uniform deceleration process and is closer to the actual motion situation of the vehicle, the established parking distance model is more accurate, the acceleration slope of the vehicle can be more accurately calculated according to the model in real time, the vehicle is controlled to run according to the acceleration slope value calculated in real time, and the parking precision of the vehicle is further improved.
In the embodiment of the present invention, the driving control method of the vehicle shown in the above drawings is described by way of example with reference to one of the drawings in the embodiment of the present invention. In specific implementation, the vehicle driving control method shown in each of the above drawings may also be implemented by combining any other drawings that may be combined, which are illustrated in the above embodiments, and will not be described herein again.
As shown in fig. 4, an embodiment of the present invention provides a running control system of a vehicle, including:
the obtaining module 401 is configured to obtain a remaining parking distance and a vehicle speed of the vehicle after obtaining the braking control request, where the remaining parking distance of the vehicle is a distance between a position where the vehicle is located and a target parking position;
a calculating module 402, configured to calculate an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed, and a preset parking distance model;
a control module 403 for controlling the vehicle to run with an acceleration slope value;
the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the parking distance model is the following formula one:
Figure BDA0002186517860000151
wherein s istIndicating a driving distance from an initial time to a time t after the vehicle responds to the braking control request, wherein the initial time is the time for acquiring the remaining stopping distance and the vehicle speed; v. of0Representing the speed of said initial moment, a0Represents the acceleration at the initial time, and r represents the acceleration gradient of the vehicle.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the parking distance model is the following formula two:
Figure BDA0002186517860000152
wherein s istIndicating the remaining stopping distance, v, of the vehicle at time t after responding to the braking control requesttIndicating the vehicle speed at time T, T indicating the control period of the vehicleR represents the acceleration gradient of the vehicle, t1Representing the total time between the vehicle's response to a brake control request and the vehicle's stopping, v0Indicating the initial speed at which the vehicle begins to respond to the brake control request.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the calculating module 402 is specifically configured to, after obtaining the remaining parking distance and the vehicle speed of the vehicle and the braking system of the vehicle responds to the braking request, substitute the remaining parking distance and the vehicle speed into the parking distance model, and calculate the acceleration slope value of the vehicle.
As an alternative implementation manner, in the second aspect of the embodiment of the present invention, the calculating module 402 is configured to calculate the remaining response delay distance of the vehicle according to the vehicle speed and the remaining response time of the braking system of the vehicle before the braking system of the vehicle responds to the braking request after acquiring the remaining stopping distance and the vehicle speed of the vehicle;
adding the remaining parking distance to the remaining response delay distance to obtain a first remaining parking distance;
and substituting the first remaining parking distance and the vehicle speed into a parking distance model, and calculating the acceleration slope value of the vehicle.
As shown in fig. 5, an embodiment of the present invention further provides a running control system for a vehicle, including: a processor 501, a memory 502 and a computer program stored on the memory 502 and operable on the processor 501, the computer program, when executed by the processor 501, implementing the steps of the method for controlling the travel of a vehicle in the above-described method embodiments.
The driving control system of the vehicle provided by the embodiment of the invention can realize each process shown in the method embodiment, and is not described again for avoiding repetition.
The embodiment of the invention provides a running control system of a vehicle, which can acquire the remaining parking distance (namely the distance between the position where the vehicle is located and a target parking position) and the vehicle speed of the vehicle after acquiring a braking control request; calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and a preset parking distance model; controlling the vehicle to run according to the acceleration slope value; the parking distance model is a mathematical model obtained by integrating the speed of the vehicle with time as a variable. According to the scheme, after the braking control request is obtained, the acceleration slope value of the vehicle can be calculated through the parking distance model in real time according to the remaining parking distance and the vehicle speed of the vehicle, and the vehicle is controlled according to the calculated acceleration slope value, so that the vehicle can be accurately controlled to run in real time according to the calculated acceleration slope value, and the vehicle can be accurately parked at the target parking point.
An embodiment of the present invention provides a vehicle, which is characterized by including: the travel control system of a vehicle according to the above embodiment.
Optionally, the running control system of the vehicle related to the above embodiments may be an acceleration slope controller in the vehicle, or may be a system composed of the acceleration slope controller and other devices or modules.
For example, fig. 6 is a schematic structural diagram of a running control system of a vehicle. The vehicle control system comprises an acceleration slope controller, a parking controller, a vehicle speed sensing module and a vehicle running control device which are connected with the acceleration slope controller, and a vehicle sound wave module connected with the parking controller.
In fig. 6, after the ultrasonic module detects the obstacle information around the vehicle, the distance between the obstacle and the vehicle is determined and sent to the parking controller, the parking controller determines a target parking point according to the distance between the obstacle and the vehicle and the planned path, and outputs the remaining parking distance to the acceleration slope controller, and the acceleration slope controller may calculate an acceleration slope that the vehicle should currently output when the vehicle is to park at the target parking point according to the remaining parking distance acquired from the parking controller and the vehicle speed acquired from the vehicle speed sensing module, and output the acceleration slope value to the driving control device of the vehicle, so that the driving control device of the vehicle controls the vehicle to drive.
It should be noted that the vehicle speed during parking is generally in the range of 0-1.0m/s, and the method can be applied to parking scenes, that is, scenes with a vehicle speed in the range of 0-1.0 m/s.
Optionally, the vehicle in the embodiment of the present invention may be an electric vehicle.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the processes in the above-described method embodiments.
Embodiments of the present invention provide a computer program product, which, when running on a computer, causes the computer to perform the respective processes in the above-described method embodiments.
An embodiment of the present invention provides an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is enabled to execute each process in the foregoing method embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Claims (6)

1. A running control method of a vehicle, characterized by comprising:
after the braking control request is obtained, obtaining the remaining parking distance and the vehicle speed of the vehicle, wherein the remaining parking distance of the vehicle is the distance between the position where the vehicle is located and the target parking position;
regarding the whole braking and stopping process of the vehicle as a continuous variable deceleration process according to the condition of the vehicle
Figure 77446DEST_PATH_IMAGE002
Acceleration at the time and acceleration at the initial time, establishing the
Figure 507421DEST_PATH_IMAGE002
An acceleration expression of a time;
for the said in the acceleration expression
Figure 859905DEST_PATH_IMAGE002
The acceleration of the moment is integrated to obtain the
Figure 536874DEST_PATH_IMAGE002
A velocity expression of the time of day;
for the said in the speed expression
Figure 771546DEST_PATH_IMAGE002
Integrating the speed at the moment to obtain a parking distance model; the parking distance model is as follows:
Figure 926584DEST_PATH_IMAGE003
；
calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and the parking distance model;
controlling the vehicle to run at the acceleration slope value;
wherein the content of the first and second substances,
Figure 399154DEST_PATH_IMAGE004
indicating that the vehicle has arrived from the initial time
Figure 309341DEST_PATH_IMAGE002
The initial time is the time for obtaining the remaining parking distance and the vehicle speed;
Figure 968992DEST_PATH_IMAGE005
presentation instrumentThe speed of the initial moment in time is,
Figure 990038DEST_PATH_IMAGE006
represents the acceleration at the initial moment in time,
Figure 51535DEST_PATH_IMAGE007
representing an acceleration slope value of the vehicle.
2. The method of claim 1, wherein said calculating an acceleration slope value of the vehicle based on the remaining stopping distance, the vehicle speed, and a preset stopping distance model comprises:
and after the brake system of the vehicle responds to the brake control request, substituting the remaining parking distance and the vehicle speed into the parking distance model, and calculating the acceleration slope value of the vehicle.
3. The method of claim 1, wherein said calculating an acceleration slope value of the vehicle based on the remaining stopping distance, the vehicle speed, and a preset stopping distance model comprises:
calculating a remaining response delay distance of the vehicle according to the vehicle speed and a remaining response time of a braking system of the vehicle before the braking system of the vehicle responds to the braking control request;
adding the remaining parking distance to the remaining response delay distance to obtain a first remaining parking distance;
and substituting the first remaining parking distance and the vehicle speed into the parking distance model, and calculating the acceleration slope value of the vehicle.
4. A running control system of a vehicle, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the remaining parking distance and the vehicle speed of a vehicle after acquiring a braking control request, and the remaining parking distance of the vehicle is the distance between the position where the vehicle is located and a target parking position;
a calculation module for considering the whole braking and stopping process of the vehicle as a continuous variable deceleration process according to the condition that the vehicle is in
Figure 70306DEST_PATH_IMAGE002
Acceleration at the time and acceleration at the initial time, establishing the
Figure 30303DEST_PATH_IMAGE002
An acceleration expression of a time;
the calculation module is further used for calculating the acceleration expression
Figure 792723DEST_PATH_IMAGE002
The acceleration of the moment is integrated to obtain the
Figure 771043DEST_PATH_IMAGE002
A velocity expression of the time of day;
the computing module is further configured to compute the velocity expression from the velocity expression
Figure 695137DEST_PATH_IMAGE002
Integrating the speed at the moment to obtain a parking distance model; the parking distance model is as follows:
Figure 391697DEST_PATH_IMAGE008
；
the calculation module is further used for calculating an acceleration slope value of the vehicle according to the remaining parking distance, the vehicle speed and the parking distance model;
the control module is used for controlling the vehicle to run according to the acceleration slope value;
wherein the content of the first and second substances,
Figure 692229DEST_PATH_IMAGE009
indicating that the vehicle has arrived from the initial time
Figure 790635DEST_PATH_IMAGE002
The initial time is the time for obtaining the remaining parking distance and the vehicle speed;
Figure 885630DEST_PATH_IMAGE005
the speed at which the initial moment is indicated,
Figure 820219DEST_PATH_IMAGE006
represents the acceleration at the initial moment in time,
Figure 924441DEST_PATH_IMAGE007
representing an acceleration slope value of the vehicle.
5. A vehicle characterized by comprising a running control system of the vehicle according to claim 4.
6. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements a running control method of a vehicle according to any one of claims 1 to 3.
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