CN111231955B - 纵向车速的控制方法、装置、系统及存储介质 - Google Patents
纵向车速的控制方法、装置、系统及存储介质 Download PDFInfo
- Publication number
- CN111231955B CN111231955B CN202010115985.8A CN202010115985A CN111231955B CN 111231955 B CN111231955 B CN 111231955B CN 202010115985 A CN202010115985 A CN 202010115985A CN 111231955 B CN111231955 B CN 111231955B
- Authority
- CN
- China
- Prior art keywords
- control quantity
- speed
- target
- longitudinal
- mode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000001133 acceleration Effects 0.000 claims abstract description 139
- 238000013507 mapping Methods 0.000 claims abstract description 101
- 230000004044 response Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 abstract description 17
- 230000007246 mechanism Effects 0.000 description 16
- 238000004364 calculation method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
Description
加速度范围 | 行驶模式 |
a>k<sub>1</sub>a<sub>1</sub> | 加速行驶模式 |
k<sub>2</sub>a<sub>1</sub><a≤k<sub>1</sub>a<sub>1</sub> | 加速行驶模式 |
k<sub>3</sub>a<sub>max</sub><a≤k<sub>2</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>4</sub>a<sub>max</sub><a≤k<sub>3</sub>a<sub>max</sub> | 匀速行驶模式 |
k<sub>5</sub>a<sub>max</sub><a≤k<sub>4</sub>a<sub>max</sub> | 匀速行驶模式 |
k<sub>6</sub>a<sub>max</sub><a≤k<sub>5</sub>a<sub>max</sub> | 匀速行驶模式 |
a≤k<sub>6</sub>a<sub>max</sub> | 匀速行驶模式 |
加速度范围 | 行驶模式 |
a>k<sub>1</sub>a<sub>1</sub> | 加速行驶模式 |
k<sub>2</sub>a<sub>1</sub><a≤k<sub>1</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>3</sub>a<sub>max</sub><a≤k<sub>2</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>4</sub>a<sub>max</sub><a≤k<sub>3</sub>a<sub>max</sub> | 匀速行驶模式 |
k<sub>5</sub>a<sub>max</sub><a≤k<sub>4</sub>a<sub>max</sub> | 制动模式 |
k<sub>6</sub>a<sub>max</sub><a≤k<sub>5</sub>a<sub>max</sub> | 制动模式 |
a≤k<sub>6</sub>a<sub>max</sub> | 制动模式 |
加速度范围 | 行驶模式 |
a>k<sub>1</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>2</sub>a<sub>1</sub><a≤k<sub>1</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>3</sub>a<sub>max</sub><a≤k<sub>2</sub>a<sub>1</sub> | 匀速行驶模式 |
k<sub>4</sub>a<sub>max</sub><a≤k<sub>3</sub>a<sub>max</sub> | 制动模式 |
k<sub>5</sub>a<sub>max</sub><a≤k<sub>4</sub>a<sub>max</sub> | 制动模式 |
k<sub>6</sub>a<sub>max</sub><a≤k<sub>5</sub>a<sub>max</sub> | 制动模式 |
a≤k<sub>6</sub>a<sub>max</sub> | 紧急制动模式 |
加速度范围 | 行驶模式 |
a>k<sub>1</sub>a<sub>1</sub> | 制动模式 |
k<sub>2</sub>a<sub>1</sub><a≤k<sub>1</sub>a<sub>1</sub> | 制动模式 |
k<sub>3</sub>a<sub>max</sub><a≤k<sub>2</sub>a<sub>1</sub> | 制动模式 |
k<sub>4</sub>a<sub>max</sub><a≤k<sub>3</sub>a<sub>max</sub> | 制动模式 |
k<sub>5</sub>a<sub>max</sub><a≤k<sub>4</sub>a<sub>max</sub> | 制动模式 |
k<sub>6</sub>a<sub>max</sub><a≤k<sub>5</sub>a<sub>max</sub> | 紧急制动模式 |
a≤k<sub>6</sub>a<sub>max</sub> | 紧急制动模式 |
速度范围 | 控制量阈值 |
Rj<sub>1</sub> | Mq<sub>1</sub> |
Rj<sub>2</sub> | Mq<sub>2</sub> |
Rj<sub>3</sub> | Mq<sub>3</sub> |
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010115985.8A CN111231955B (zh) | 2020-02-25 | 2020-02-25 | 纵向车速的控制方法、装置、系统及存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010115985.8A CN111231955B (zh) | 2020-02-25 | 2020-02-25 | 纵向车速的控制方法、装置、系统及存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111231955A CN111231955A (zh) | 2020-06-05 |
CN111231955B true CN111231955B (zh) | 2021-06-01 |
Family
ID=70867275
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010115985.8A Active CN111231955B (zh) | 2020-02-25 | 2020-02-25 | 纵向车速的控制方法、装置、系统及存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111231955B (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112061123B (zh) * | 2020-08-18 | 2021-07-20 | 纵联汽车工业工程研究(天津)有限公司 | 基于脉冲信号的新能源汽车匀速控制方法及装置 |
CN112158199B (zh) * | 2020-09-25 | 2022-03-18 | 阿波罗智能技术(北京)有限公司 | 巡航控制方法、装置、设备、车辆及介质 |
CN112356842B (zh) * | 2020-11-20 | 2022-03-18 | 苏州智加科技有限公司 | 自动驾驶车辆的档位调节方法、装置、设备及存储介质 |
CN113147760B (zh) * | 2021-05-26 | 2023-04-28 | 江苏盛海智能科技有限公司 | 一种无人驾驶定速巡航控制方法及终端 |
CN114084111B (zh) * | 2021-11-25 | 2022-07-29 | 北京轻舟智航科技有限公司 | 一种基于实时反馈和历史减速度的刹车控制方法 |
CN114312775B (zh) * | 2021-12-28 | 2024-01-09 | 重庆金康赛力斯新能源汽车设计院有限公司 | 一种控制方法和装置 |
CN114407934B (zh) * | 2022-03-08 | 2023-07-14 | 北京轻舟智航智能技术有限公司 | 基于速度模式状态机进行自动驾驶纵向控制的处理方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107215334A (zh) * | 2017-06-26 | 2017-09-29 | 地壳机器人科技有限公司 | 车速控制方法、装置及无人驾驶汽车 |
CN107512266A (zh) * | 2017-08-01 | 2017-12-26 | 北京理工大学 | 一种基于波形训练的混合动力车辆行驶工况的工况预测方法 |
CN109050531A (zh) * | 2018-07-27 | 2018-12-21 | 吉利汽车研究院(宁波)有限公司 | 一种巡航车速控制装置及方法 |
CN109353340A (zh) * | 2018-08-27 | 2019-02-19 | 北京汽车集团有限公司 | 车辆的控制方法、装置及车辆 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10551842B2 (en) * | 2017-06-19 | 2020-02-04 | Hitachi, Ltd. | Real-time vehicle state trajectory prediction for vehicle energy management and autonomous drive |
-
2020
- 2020-02-25 CN CN202010115985.8A patent/CN111231955B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107215334A (zh) * | 2017-06-26 | 2017-09-29 | 地壳机器人科技有限公司 | 车速控制方法、装置及无人驾驶汽车 |
CN107512266A (zh) * | 2017-08-01 | 2017-12-26 | 北京理工大学 | 一种基于波形训练的混合动力车辆行驶工况的工况预测方法 |
CN109050531A (zh) * | 2018-07-27 | 2018-12-21 | 吉利汽车研究院(宁波)有限公司 | 一种巡航车速控制装置及方法 |
CN109353340A (zh) * | 2018-08-27 | 2019-02-19 | 北京汽车集团有限公司 | 车辆的控制方法、装置及车辆 |
Also Published As
Publication number | Publication date |
---|---|
CN111231955A (zh) | 2020-06-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111231955B (zh) | 纵向车速的控制方法、装置、系统及存储介质 | |
KR100474222B1 (ko) | 차속 제어 시스템 | |
CN107985309B (zh) | 一种分段式车辆定速行驶控制方法 | |
JP4489333B2 (ja) | 車両の駆動力制御装置 | |
US6299563B1 (en) | Control system for hybrid vehicle | |
KR100468989B1 (ko) | 차속 제어 시스템 및 방법 | |
JP4293311B2 (ja) | 自動変速機の減速比選択制御方法および車両 | |
CN100538128C (zh) | 车辆控制装置 | |
JPWO2012098680A1 (ja) | 車両制御装置 | |
CN110402212A (zh) | 操作机动车的制动设备的控制装置的方法以及控制装置和机动车 | |
KR20120093379A (ko) | 차량 제어 시스템 및 차량 제어 방법 | |
US20150166067A1 (en) | System and method for controlling the speed of an engine | |
JP2000355236A (ja) | プリセット可能な好適車両速度を設定するための方法とコントロールシステム | |
CN103797280A (zh) | 无级变速机的控制装置 | |
SE1250349A1 (sv) | Förfarande och system för styrning av åtminstone en hastighetsregulator | |
JP2004099023A (ja) | 車両速度の制限方法および装置 | |
US20230415738A1 (en) | Braking/driving force control system | |
JP2004034886A (ja) | 車両の駆動力制御装置 | |
KR100939393B1 (ko) | 수동 변속기를 구비한 차량의 속도 및 엔진 회전수를 제어하기 위한 장치 및 방법 | |
US20230018675A1 (en) | Braking force control device | |
KR101013691B1 (ko) | 구동 장치 작동 방법 | |
CN113700847B (zh) | 一种匹配amt的商用车低速控制方法、装置与设备 | |
US6746368B2 (en) | Vehicle speed control system for automotive vehicle | |
JPH09191506A (ja) | 電気自動車制御装置 | |
JPH04853B2 (zh) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20200720 Address after: 241000 Anshan South Road, Wuhu economic and Technological Development Zone, Anhui Applicant after: Wuhu Sambalion auto technology Co.,Ltd. Applicant after: CHERY AUTOMOBILE Co.,Ltd. Address before: 241006 Wuhu economic and Technological Development Zone, Anhui, No. 8 Changchun Road Applicant before: CHERY AUTOMOBILE Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220211 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241000 Anshan South Road, Wuhu economic and Technological Development Zone, Anhui Patentee before: Wuhu Sambalion auto technology Co.,Ltd. Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
|
TR01 | Transfer of patent right |
Effective date of registration: 20240409 Address after: 241000 10th Floor, Block B1, Wanjiang Wealth Plaza, Guandou Street, Jiujiang District, Wuhu City, Anhui Province Patentee after: Dazhuo Intelligent Technology Co.,Ltd. Country or region after: China Patentee after: Dazhuo Quxing Intelligent Technology (Shanghai) Co.,Ltd. Address before: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee before: Wuhu Sambalion auto technology Co.,Ltd. Country or region before: China |