CN111791890A - Car following method based on PID - Google Patents

Car following method based on PID Download PDF

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Publication number
CN111791890A
CN111791890A CN202010438858.1A CN202010438858A CN111791890A CN 111791890 A CN111791890 A CN 111791890A CN 202010438858 A CN202010438858 A CN 202010438858A CN 111791890 A CN111791890 A CN 111791890A
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speed
frame
difference
expected
acceleration
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CN111791890B (en
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苏晓聪
朱敦尧
陈波
万木春
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Wuhan Kotei Technology Corp
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Wuhan Kotei Technology Corp
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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Abstract

The invention relates to the technical field of automatic driving, in particular to a car following method based on PID (proportion integration differentiation); including S1, obtaining an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration; s2, acquiring the distance of the front moving vehicle, the speed of the front moving vehicle and the speed of the current vehicle; s3, calculating the expected speed and the expected acceleration of the current vehicle by using PID, and adjusting the integral quantity; the method specifically comprises the steps of adjusting an integral quantity according to a difference value between the speed of a current vehicle and the speed of a front moving vehicle; s4, outputting the expected speed and the expected acceleration of the current vehicle, and adding 1 to the value of the frame count; waiting for the next time, the process proceeds to step S2. According to the embodiment of the invention, the integral quantity is adjusted when the expected speed and the expected acceleration are calculated; if the difference between the current speed and the speed of the vehicle moving ahead is large, the influence of the integral quantity is reduced, the parameter adjusting method is more convenient and easier, and the system can reach a steady state more easily.

Description

Car following method based on PID
Technical Field
The invention relates to the technical field of automatic driving, in particular to a car following method based on PID.
Background
In the automatic driving process, when the automatic driving vehicle meets a front moving vehicle, the automatic driving vehicle needs to safely and quickly follow the front vehicle to run. How to stably and comfortably follow up a vehicle is one of the main research subjects of the current automatic driving vehicles.
The conventional PID-based following algorithm uses P, I, D three components based on the distance of the moving vehicle ahead. The component P is called the proportional term, the component I is called the integral term, and the component D is called the difference term. When the following is implemented by using the PID, the expected speed and the expected acceleration are generally calculated according to the difference between the distance of the front moving vehicle and the safe distance.
The defects of the prior art are that the traditional PID car following algorithm is difficult to tune and parameter and the time from the starting stage to the steady-state stage is long.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a following method based on PID, which solves the problem of long time from the initial stage to the steady-state stage, specially performs optimization and improvement, and has the advantages of simple principle and easy realization.
On one hand, the embodiment of the invention provides a car following method based on PID, which comprises the following steps:
s1, acquiring an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration;
s2, acquiring the distance of the front moving vehicle, the speed of the front moving vehicle and the speed of the current vehicle;
s3, calculating the expected speed and the expected acceleration of the current vehicle by using PID, and adjusting the integral quantity; the method specifically comprises the steps of adjusting the integral quantity according to the difference value between the speed of the current vehicle and the speed of the front moving vehicle;
s4, outputting the expected speed and the expected acceleration of the current vehicle, and adding 1 to the value of the frame count; waiting for the next time, the process goes to step S2.
On the other hand, an embodiment of the present invention provides a car following system based on PID, including:
the data acquisition module acquires an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration; acquiring the distance of a front moving vehicle, the speed of the front moving vehicle and the speed of a current vehicle;
the data calculation module is used for calculating the expected speed and the expected acceleration of the current vehicle by using PID (proportion integration differentiation) and adjusting the integral quantity; the method specifically comprises the steps of adjusting the integral quantity according to the difference value between the speed of the current vehicle and the speed of the front moving vehicle;
the data output module outputs the expected speed and the expected acceleration of the current vehicle and adds 1 to the value of the frame count; and waiting for the next moment, and repeating the steps.
According to the embodiment of the invention, through a PID-based car following method and system, the integral quantity is adjusted when the expected speed and the expected acceleration are calculated; if the difference between the current speed and the speed of the vehicle moving ahead is large, the influence of the integral quantity is reduced, the parameter adjusting method is more convenient and easier, and the system can reach a steady state more easily.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the technical description of the present invention will be briefly introduced below, and it is apparent 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 to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a tracking method based on PID according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a car following system based on PID according to an embodiment of the present invention;
reference numerals:
the data acquisition module-1 is a data calculation module-2 is a data output module-3.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but 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.
A car following method based on PID comprises the following steps:
s1, acquiring an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration;
s2, acquiring the distance of the front moving vehicle, the speed of the front moving vehicle and the speed of the current vehicle;
s3, calculating the expected speed and the expected acceleration of the current vehicle by using PID, and adjusting the integral quantity; the method specifically comprises the steps of adjusting the integral quantity according to the difference value between the speed of the current vehicle and the speed of the front moving vehicle;
s4, outputting the expected speed and the expected acceleration of the current vehicle, and adding 1 to the value of the frame count; waiting for the next time, the process goes to step S2.
Specifically, the invention provides a following method based on PID, which takes the difference between the distance of a forward moving vehicle and the safe distance as the basis for judgment and uses PID to obtain the expected speed of the current vehicle; then, taking the difference between the expected speed and the current speed as a basis, and still using the PID to obtain the expected acceleration of the current vehicle; the integral amount is adjusted when calculating the desired velocity and the desired acceleration. For example, if the difference between the current vehicle speed and the speed of the vehicle moving ahead is large, the obtained integral quantity is multiplied by a coefficient to be reduced on the original basis, and the influence of the integral quantity is reduced.
Further, the desired velocity vp,kThe calculation formula is as follows:
Figure BDA0002503309600000041
where k is the frame count, d0,kRepresents the distance, v, of the moving vehicle ahead at the k-th frame0,kRepresents the vehicle speed, Δ d, of the current vehicle at the k-th framekRepresents the difference between the distance of the preceding moving vehicle at the k-th frame and the safe distance, pv,kRepresenting the proportional term, Δ d, calculated at the k-th frametRepresents the difference between the distance of the moving vehicle ahead at the t-th frame and the safe distance, Δ dk-1Represents the difference between the distance of the preceding moving vehicle at the k-1 frame and the safe distance, iv,kIntegral term calculated in the k-th frame, dv,kRepresenting a difference term obtained at the k frame; kP,v、KI,v、KD,vRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient, t, at the time of calculating the desired speedsafeSafe time;
when | v0,k-vf,k|>＝Thresholdv*vf,kWhen i isv,k＝iv,k*RatioI
When v isp,k>＝vlimitWhen, get vp,k＝vlimit；
Wherein v islimitDenotes the maximum speed, vf,kIs the forward moving vehicle speed.
The desired acceleration ap,kThe calculation formula is as follows:
Figure BDA0002503309600000042
wherein, Δ vkRepresents the difference between the expected speed and the current vehicle speed at the k frame, pa,kRepresenting the proportional term at the k-th frame, Δ vtRepresents the difference between the expected speed at the t-th frame and the current vehicle speed, Deltavk-1Represents a difference between the desired speed at the k-1 th frame and a current vehicle speed, ia,kIntegral term representing the k-th frame, da,kA difference term at the k-th frame; kP,a、KI,a、KD,aRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient when the expected acceleration is calculated;
when | v0,k-vf,k|>＝Thresholdv*vf,kWhen i isa,k＝ia,k*RatioI
When a isp,k>amaxWhen it comes to ap,k＝amax；
When a isp,k<aminWhen it comes to ap,k＝amin；
Wherein, amaxAt maximum acceleration, aminIs the minimum acceleration.
Specifically, the set maximum speed v is acquiredlimitSet safety time tsafeMaximum acceleration amaxMinimum acceleration aminAssigning 1 to the frame count k to obtain the distance d of the front moving vehicle0,kSpeed v of moving vehicle aheadf,kSpeed v of the vehicle0,k(ii) a Calculating the desired velocity v by formulap,kAnd a desired acceleration ap,kMeanwhile, the integral quantity is adjusted according to the difference value between the speed of the current vehicle and the speed of the vehicle moving ahead; e.g. when | v0,k-vf,k|>＝Thresholdv*vf,kWhen i isv,k＝iv,k*RatioI(ii) a When v isp,k>＝vlimitWhen, get vp,k＝vlimit(ii) a Threshold in the actual project implementationvIs 0.08, RatioIHas a value of 0.8, KP,vHas a value of 0.22, KI,vHas a value of 0.018, KD,vIs 0; when | v0,k-vf,k|>＝Thresholdv*vf,kWhen i isa,k＝ia,k*RatioI(ii) a When a isp,k>amaxWhen it comes to ap,k＝amax(ii) a Threshold in the actual project implementationvIs 0.08, RatioIHas a value of 0.8, KP,aHas a value of 0.5, KI,aHas a value of 0.01, KD,aThe value of (A) is 0.4; finally, outputting the expected speed and the expected acceleration of the current vehicle; and adding 1 to the value of the frame count, waiting for the next time, jumping to the step of S2, and repeating the following process.
According to the embodiment of the invention, through a PID-based car following method and system, the integral quantity is adjusted when the expected speed and the expected acceleration are calculated; if the difference between the current speed and the speed of the vehicle moving ahead is large, the influence of the integral quantity is reduced, the parameter adjusting method is more convenient and easier, and the system can reach a steady state more easily.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (4)

1. A car following method based on PID is characterized by comprising the following steps:
s1, acquiring an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration;
s2, acquiring the distance of the front moving vehicle, the speed of the front moving vehicle and the speed of the current vehicle;
s3, calculating the expected speed and the expected acceleration of the current vehicle by using PID, and adjusting the integral quantity; the method specifically comprises the following steps: adjusting the integral quantity according to the difference value between the speed of the current vehicle and the speed of the front moving vehicle;
s4, outputting the expected speed and the expected acceleration of the current vehicle, and adding 1 to the value of the frame count; waiting for the next time, the process goes to step S2.
2. The PID-based following method according to claim 1, wherein the expected speed v in the step S3 isp，kThe calculation formula is as follows:
Δdk＝d0，k-v0，ktsafe
pv，k＝Δdk
Figure FDA0002503309590000011
Figure FDA0002503309590000012
vp，k＝KP，vpv，k+KI，viv，k+KD，vdv，k+v0，k
where k is the frame count, d0，kRepresents the distance, v, of the moving vehicle ahead at the k-th frame0，kRepresents the vehicle speed, Δ d, of the current vehicle at the k-th framekRepresenting the distance and safe distance of the moving vehicle ahead at the k-th frameDifference of separation, Pv，kRepresenting the proportional term, Δ d, calculated at the k-th frametRepresents the difference between the distance of the moving vehicle ahead at the t-th frame and the safe distance, Δ dk-1Represents the difference between the distance of the preceding moving vehicle at the k-1 frame and the safe distance, iv，kIntegral term calculated in the k-th frame, dv，kRepresenting a difference term obtained at the k frame; kP，v、KI，v、KD，vRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient, t, at the time of calculating the desired speedsafeSafe time;
when | v0，k-vf，k|＞＝Thresholdv*vf，kWhen i isv，k＝iv，k*RatioI
When v isp，k＞＝vlimitWhen, get vp，k＝vlimit；
Wherein v islimitDenotes the maximum speed, vf，kIs the forward moving vehicle speed.
The desired acceleration ap，kThe calculation formula is as follows:
Δvk＝vp，k-v0，k
pa，k＝Δvk
Figure FDA0002503309590000021
Figure FDA0002503309590000022
ap，k＝KP，apa，k+KI，aia，k+KD，ada，k
wherein, Δ vkRepresents the difference between the expected speed and the current vehicle speed at the k frame, Pa，kRepresenting the proportional term at the k-th frame, Δ vtRepresents the difference between the expected speed at the t-th frame and the current vehicle speed, Deltavk-1Means for indicating the k-1 th frameThe difference between the expected speed and the current vehicle speed, ia，kIntegral term representing the k-th frame, da，kA difference term at the k-th frame; kP，a、KI，a、KD，aRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient when the expected acceleration is calculated;
when | v0，k-vf，k|＞＝Thresholdv*vf，kWhen i isa，k＝ia，k*RatioI
When a isp，k＞amaxWhen it comes to ap，k＝amax；
When a isp，k＜aminWhen it comes to ap，k＝amin；
Wherein, amaxAt maximum acceleration, aminIs the minimum acceleration.
3. A PID-based car following system, comprising:
the data acquisition module acquires an initial set value; the method specifically comprises the following steps: assigning 1 to the frame count according to the maximum speed, the safe time, the maximum acceleration and the minimum acceleration; acquiring the distance of a front moving vehicle, the speed of the front moving vehicle and the speed of a current vehicle;
the data calculation module is used for calculating the expected speed and the expected acceleration of the current vehicle by using PID (proportion integration differentiation) and adjusting the integral quantity; the method specifically comprises the steps of adjusting the integral quantity according to the difference value between the speed of the current vehicle and the speed of the front moving vehicle;
the data output module outputs the expected speed and the expected acceleration of the current vehicle and adds 1 to the value of the frame count; and waiting for the next moment, and repeating the steps.
4. The PID-based vehicle following system according to claim 3, wherein the data calculation module specifically comprises the desired speed vp，kThe calculation formula is as follows:
Δdk＝d0，k-v0，ktsafe
pv，k＝Δdk
Figure FDA0002503309590000031
Figure FDA0002503309590000032
vp，k＝KP，vpv，k+KI，viv，k+KD，vdv，k+v0，k
where k is the frame count, d0，kRepresents the distance, v, of the moving vehicle ahead at the k-th frame0，kRepresents the vehicle speed, Δ d, of the current vehicle at the k-th framekRepresents the difference between the distance of the preceding moving vehicle at the k-th frame and the safe distance, Pv，kRepresenting the proportional term, Δ d, calculated at the k-th frametRepresents the difference between the distance of the moving vehicle ahead at the t-th frame and the safe distance, Δ dk-1Represents the difference between the distance of the preceding moving vehicle at the k-1 frame and the safe distance, iv，kIntegral term calculated in the k-th frame, dv，kRepresenting a difference term obtained at the k frame; kP，v、KI，v、KD，vRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient, t, at the time of calculating the desired speedsafeSafe time;
when | v0，k-vf，k|＞＝Thresholdv*vf，kWhen i isv，k＝iv，k*RatioI
When v isp，k＞＝vlimitWhen, get vp，k＝vlimit；
Wherein v islimitDenotes the maximum speed, vf，kIs the forward moving vehicle speed.
The desired acceleration ap，kThe calculation formula is as follows:
Δvk＝vp，k-v0，k
pa，k＝Δvk
Figure FDA0002503309590000033
Figure FDA0002503309590000034
ap，k＝KP，apa，k+KI，aia，k+KD，ada，k
wherein, Δ vkRepresents the difference between the expected speed and the current vehicle speed at the k frame, pa，kRepresenting the proportional term at the k-th frame, Δ vtRepresents the difference between the expected speed at the t-th frame and the current vehicle speed, Deltavk-1Represents a difference between the desired speed at the k-1 th frame and a current vehicle speed, ia，kIntegral term representing the k-th frame, da，kA difference term at the k-th frame; kP，a、KI，a、KD，aRespectively representing a proportional term coefficient, an integral term coefficient and a difference term coefficient when the expected acceleration is calculated;
when | v0，k-vf，k|＞＝Thresholdv*vf，kWhen i isa，k＝ia，k*RatioI
When a isp，k＞amaxWhen it comes to ap，k＝amax；
When a isp,k<aminWhen it comes to ap,k＝amin；
Wherein, amaxAt maximum acceleration, aminIs the minimum acceleration.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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