CN112356825B - Automatic driving vehicle parking control method and device - Google Patents

Automatic driving vehicle parking control method and device Download PDF

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Publication number
CN112356825B
CN112356825B CN201910678247.1A CN201910678247A CN112356825B CN 112356825 B CN112356825 B CN 112356825B CN 201910678247 A CN201910678247 A CN 201910678247A CN 112356825 B CN112356825 B CN 112356825B
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deceleration
vehicle
control
brake
current
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CN112356825A (en
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左帅
朱敏
李钰锐
李兴佳
蔡礼松
张立增
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Yutong Bus 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
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • 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
    • 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
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/0011—Proportional Integral Differential [PID] controller

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars. The control method comprises the following steps: acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance; obtaining a given deceleration through PID control according to the parking control error; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control. The method controls the deceleration according to the error between the actual distance from the station and the estimated braking distance, and further controls the brake to decelerate so that the vehicle can be stably stopped.

Description

Automatic driving vehicle parking control method and device
Technical Field
The invention relates to a parking control method and device for an automatic driving vehicle, and belongs to the technical field of automatic driving passenger cars.
Background
The existing driver mostly steps on the brake of discontinuous type until the vehicle stops in the process of driving the vehicle to park, there is the situation until the vehicle stops of stepping on the brake all the time, and the ideal vehicle braking process should be gently and progressively increased to apply the braking force, guarantee the high-efficiency parking and avoid the situation that the human body feeling is poor caused by great deceleration change, and the existing automatic control technology requires more rigorous control to the vehicle parking in order to be closer to human judgment when controlling the vehicle to park, the existing automatic control technology generally controls the vehicle speed through PID according to the distance, and finally realizes the automatic control of the vehicle parking, but this kind of control mode makes the deceleration change great, lead to the brake of parking not smooth, the stability of the vehicle body is poor.
Disclosure of Invention
The invention aims to provide a parking control method of an automatic driving vehicle, which is used for solving the problem that the existing control method takes speed as output and the deceleration changes greatly to cause unsmooth parking brake; the automatic vehicle parking control device is used for solving the problem that the existing control device uses speed as output PID control, and the parking brake is not smooth due to large deceleration change during parking.
In order to achieve the above object, the present invention provides a parking control method for an autonomous vehicle, comprising the steps of:
1) acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance;
2) obtaining a given deceleration through PID control according to the parking control error; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control.
The beneficial effects are that: according to the method, the deceleration of the vehicle is controlled according to the error between the actual distance from the station and the estimated braking distance, and then the vehicle is controlled to decelerate through the brake, so that the vehicle can be stably parked, the riding comfort is improved, the parking precision can be improved through controlling the error, and the parking is more accurate.
Further, the brake is controlled to a maximum deceleration value of the vehicle in a stop of the vehicle that is less than or equal to the set deceleration upper limit value.
The beneficial effects are that: and in the deceleration parking process of the vehicle, the deceleration in the parking process is ensured to be less than or equal to the set deceleration upper limit value, and the parking stability of the vehicle is further ensured.
Furthermore, the PID control is PID control with adjustable parameters.
The beneficial effects are that: the adjustable parameter can realize that the brake can adjust the parking speed according to the demand, makes the vehicle can begin to gently increase progressively and apply the brake force at the braking distance with the highest efficiency, and finally accurately stops at the set parking position.
In addition, the invention also provides a parking control device of the automatic driving vehicle, which comprises a memory, a processor and a program stored in the memory and operated in the processor, wherein the processor executes the program to realize the following steps:
1) acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance;
2) obtaining a given deceleration through PID control according to the parking control error; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control.
The beneficial effects are that: the device controls the deceleration of the vehicle according to the error between the actual distance from the station and the estimated braking distance, and then controls the deceleration of the vehicle through the brake, so that the vehicle can be stably parked, the riding comfort is improved, the parking precision can be improved by controlling the error, and the parking is more accurate.
Further, the brake is controlled to a maximum deceleration value of the vehicle in a stop of the vehicle that is less than or equal to the set deceleration upper limit value.
The beneficial effects are that: and in the deceleration parking process of the vehicle, the deceleration in the parking process is ensured to be less than or equal to the set deceleration upper limit value, and the parking stability of the vehicle is further ensured.
Furthermore, the PID control is PID control with adjustable parameters.
The beneficial effects are that: the adjustable parameter can realize that the brake can adjust the parking speed according to the demand, makes the vehicle can begin to gently increase progressively and apply the brake force at the braking distance with the highest efficiency, and finally accurately stops at the set parking position.
Drawings
FIG. 1 is a schematic diagram of the construction of a vehicle arrival control system according to the present invention;
FIG. 2 is a schematic illustration of a vehicle of the present invention entering a station;
fig. 3 is a block diagram of the vehicle arrival control of the present invention.
Detailed Description
The automatic vehicle parking control method comprises the following steps:
the parking control method for the automatic driving vehicle proposed by the embodiment is based on a vehicle station entering control system as shown in fig. 1, and comprises a detection unit, a control unit and an execution unit. The detection unit comprises a positioning system, an inertial navigation system and a vehicle speed sensor, the control unit comprises a controller, the execution unit comprises a brake system (namely a brake), the detection unit, the control unit and the execution unit carry out data communication through a certain bus/network protocol (such as CAN, TCP/IP), and the CAN bus is adopted for communication in the embodiment. Of course, the implementation of the method is not limited to such a vehicle inbound control system.
The positioning system is used for measuring the current position of the vehicle and the position of a target stop point to obtain the actual distance from the station; the inertial navigation system is used for measuring the current acceleration/deceleration of the vehicle, the vehicle speed sensor is used for measuring the current vehicle speed of the vehicle, the controller is used for receiving the data detected by the detection unit, converting the data into a program algorithm of the automatic driving vehicle parking control method after operation processing, converting the program algorithm into a control command and sending the control command to the bus so as to control the brake, and the brake is used for controlling the braking force of the vehicle according to the control command, wherein the braking force is reflected as the change of the deceleration of the vehicle.
The main idea of the method is that the braking distance is estimated according to the measured current deceleration and the current vehicle speed, the controller obtains the given deceleration according to the error between the actual distance from the station and the braking distance, and the difference between the given deceleration and the current deceleration controls the brake.
The following describes the parking control method of the autonomous vehicle in detail:
1) the vehicle starts to drive into a stop point (namely a station point in fig. 2) according to the driving direction shown in fig. 2, and the actual off-station distance S between the vehicle and the front stop point is obtained through the positioning systemr(i.e. the distance from the station in FIG. 2), and the current deceleration a of the vehicle is obtained by the inertial navigation system and the vehicle speed sensorrAnd the current speed v, and the braking distance S is estimated according to the current deceleration of the vehicle and the current speedc(ii) a The estimation formula is as follows:
Figure BDA0002143968130000041
in order to ensure the smoothness of the vehicle in the process of controlling the brake until the vehicle stops, the absolute value of the deceleration is gradually increased, and the maximum deceleration limit is set as the maximum deceleration amax(because of deceleration, a)maxNegative value) that the absolute value of the maximum deceleration of the vehicle during the stop of the vehicle is guaranteed to be less than or equal to the maximum deceleration amaxThe absolute value of (i.e., the deceleration upper limit value is set).
Before step 1) is carried out, in order to improve the parking efficiency better, a starting deceleration distance S is set0And avoiding low parking efficiency caused by early or late deceleration, wherein the calculation formula of the deceleration starting distance according to the current vehicle speed and the maximum deceleration is as follows:
Figure BDA0002143968130000042
by taking the actual distance S from the stationrDistance S from the start of deceleration0Making a comparison if SrAt S0Within the error range of (3), the vehicle is controlled to start decelerating.
2) The parking control error e is obtained according to the difference value of the actual distance from the station and the braking distance (i.e. the estimated distance from the station in FIG. 3)sError of parking control esThe calculation formula of (2) is as follows: e.g. of the types＝Sc-Sr。
3) The deceleration variation a which needs to adjust the current deceleration is calculated by PID according to the parking control error0And thus a given deceleration is obtained by the sum of the current deceleration and the amount of change in deceleration, the PID control process is as shown in fig. 3.
The method specifically comprises the following steps: converting the parking control error into a target control deceleration a according to a PID control algorithmt(i.e., given deceleration) then:
Figure BDA0002143968130000043
wherein, arFor the current deceleration, k, of the vehiclepIs proportional gain, TiIs the integration time, TdFor the differential time adjustment interval, kp、TiAnd TdThe parameters are adjustable for PID control.
The regulation is based on: A. setting a proportional gain k according to a vehicle speed signal interval, a brake control signal interval, a control unit operation period, and the likepIntegration time TiDifferential time regulation interval Td。
B. Adjusting the proportional gain k according to the speed, distance error (i.e. parking control error) and the rate of change of the distance errorpIntegration time TiDifferential time regulation interval TdThe rule is as follows:
a. according to the vehicle speed: the larger the vehicle speed, the larger the proportional gain kpThe larger; the smaller the vehicle speed, the smaller the proportional gain kpThe smaller.
b. According to the distance error: the larger the distance error is, the proportional gain kpThe larger the integration time TiThe smaller; the smaller the distance error, the proportional gain kpThe smaller, the integration time TiThe larger.
c. According to the distance error change rate: the greater the distance error change rate is, the greater the differential time adjustment interval TdThe larger; the smaller the distance error change rate is, the smaller the differential time adjustment interval TdThe smaller.
In this example, kp、TiAnd TdIs adjustable, as other embodiments, k can be set directlyp、TiAnd TdThe target control deceleration is controlled.
4) The difference between the given deceleration and the current deceleration (i.e., the deceleration change amount a)0) Or the given deceleration is used as the control amount of the brake control to control the brake.
In the present embodiment, the brake is controlled by directly using the predetermined deceleration as the control amount of the brake control for the efficiency of the control. As a matter of course, in another embodiment, the difference between the predetermined deceleration and the current deceleration is used as the control amount of the brake control, and the brake is controlled.
The method achieves or exceeds the arrival level of excellent drivers, and achieves the effects of accurate, comfortable and efficient arrival.
The automatic vehicle parking control device comprises:
the parking control device for the automatic driving vehicle comprises a memory, a processor and a program stored in the memory and operated in the processor, wherein the processor executes the program to realize the following steps:
1) acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance;
2) obtaining a given deceleration through PID control according to the parking control error; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control.
The specific implementation of the steps implemented by the parking control device for autonomous vehicles is described in the above-mentioned embodiments of the parking control method for autonomous vehicles, and will not be described herein too much.

Claims (6)

1. An autonomous vehicle parking control method, comprising the steps of:
1) acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance;
2) obtaining the difference between the given deceleration and the current deceleration through PID control according to the parking control error, and then summing the difference and the current deceleration to obtain the given deceleration; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control.
2. The autonomous-vehicle parking control method as recited in claim 1, wherein a maximum deceleration value of the brake to the vehicle in a stop of the vehicle is controlled to be less than or equal to a set deceleration upper limit value.
3. The autonomous-vehicle parking control method as recited in claim 1 or 2, wherein the PID control is a PID control whose parameter is adjustable.
4. An autonomous vehicle parking control apparatus comprising a memory, a processor, and a program stored in the memory and executed in the processor, wherein the processor executes the program to perform the steps of:
1) acquiring an actual distance between the vehicle and a front stop point, the current deceleration and the current speed of the vehicle, and estimating according to the current deceleration and the current speed of the vehicle to obtain a braking distance; obtaining a parking control error according to the difference value of the actual distance from the station and the braking distance;
2) obtaining the difference between the given deceleration and the current deceleration through PID control according to the parking control error, and then summing the difference and the current deceleration to obtain the given deceleration; the brake is controlled by using the difference between the predetermined deceleration and the current deceleration as a control amount for brake control or using the predetermined deceleration as a control amount for brake control.
5. The autonomous-vehicle parking control apparatus as recited in claim 4, wherein the maximum deceleration value of the brake to the vehicle in a stop of the vehicle is controlled to be less than or equal to the set deceleration upper limit value.
6. The autonomous-vehicle parking control apparatus as recited in claim 4 or 5, wherein the PID control is a PID control whose parameter is adjustable.
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US11794779B2 (en) * 2021-03-19 2023-10-24 Waymo Llc Pullover maneuvers for autonomous vehicles
CN113085807B (en) * 2021-04-08 2022-02-01 中车唐山机车车辆有限公司 Train braking method and device, electronic equipment and storage medium
CN113511208A (en) * 2021-05-31 2021-10-19 重庆长安汽车股份有限公司 Intelligent driving deceleration control method and system and vehicle
CN115366946A (en) * 2022-08-04 2022-11-22 王学浩 Rail vehicle positioning method, device, equipment and storage medium

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