CN112373316A - Vehicle and vehicle speed control method and device thereof - Google Patents

Vehicle and vehicle speed control method and device thereof Download PDF

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Publication number
CN112373316A
CN112373316A CN202011358135.7A CN202011358135A CN112373316A CN 112373316 A CN112373316 A CN 112373316A CN 202011358135 A CN202011358135 A CN 202011358135A CN 112373316 A CN112373316 A CN 112373316A
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Prior art keywords
vehicle
speed
target
vehicle speed
preset
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Chinese (zh)
Inventor
陈海波
王全胜
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Shenlan Artificial Intelligence Shenzhen Co Ltd
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Shenlan Artificial Intelligence Shenzhen Co Ltd
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Priority to CN202011358135.7A priority Critical patent/CN112373316A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a vehicle and a vehicle speed control method and device thereof, wherein the method comprises the following steps: acquiring a transverse position error and a course angle error of a vehicle; acquiring a target speed of the vehicle according to the transverse position error and the course angle error of the vehicle; acquiring the actual speed of the vehicle, and calculating the difference between the actual speed and the target speed; adjusting the vehicle speed instruction according to the difference value, and controlling the vehicle to run according to the adjusted vehicle speed instruction; acquiring the distance between a vehicle and a target parking point in the driving process of the vehicle; and controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point. The control method can realize the parking of the vehicle at the accurate longitudinal control position, ensure the normal running of the vehicle under different working conditions and avoid the deceleration and even parking of the vehicle.

Description

Vehicle and vehicle speed control method and device thereof
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle speed control method of a vehicle, a vehicle speed control device of the vehicle and the vehicle.
Background
The unmanned environmental sanitation sweeper is a pure electric sweeper, a driving motor is generally in a speed mode, a command for driving longitudinal running is a target speed, the target speed needing the sweeper is a control command of the speed, and the vehicle runs according to the target speed. Because the working condition of the environmental sanitation sweeper is complex, when the speed of the sweeper cannot be changed along with the change of the working condition, the sweeper stops or has an over-high speed, and the images of the sweeper work normally. For example, if the vehicle is traveling at a speed below 2km/h, parking problems can occur when passing through a relatively high speed bump. And when the sanitation sweeper is used for picking up the garbage and pouring the garbage into the garbage recycling station, if the deviation between the sanitation sweeper and a target parking point is large, the garbage can be poured out of the garbage can or collided with the garbage can by the sweeper.
Disclosure of Invention
The invention aims to solve the technical problems and provides a vehicle speed control method of a vehicle, which can realize the parking of the vehicle at an accurate longitudinal control position, ensure the normal running of the vehicle under different working conditions and avoid the deceleration and even parking of the vehicle.
The technical scheme adopted by the invention is as follows:
a vehicle speed control method of a vehicle, comprising the steps of: acquiring a transverse position error and a course angle error of the vehicle; acquiring a target speed of the vehicle according to the transverse position error and the course angle error of the vehicle; acquiring the actual speed of the vehicle, and calculating the difference between the actual speed and the target speed; adjusting a vehicle speed instruction according to the difference value, and controlling the vehicle to run according to the adjusted vehicle speed instruction; acquiring the distance between the actual position of the vehicle and a target parking point in the running process of the vehicle; and controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point.
According to an embodiment of the present invention, controlling the vehicle according to the distance includes: when the distance is smaller than a first preset distance threshold and larger than a second preset distance threshold, acquiring a target speed of the vehicle according to the distance, and controlling the vehicle to run at the target speed of the vehicle; and when the distance is smaller than or equal to the second preset distance threshold value, controlling the vehicle to stop.
According to one embodiment of the present invention, the distance between the actual position of the vehicle and the target parking point is obtained by the following formula:
Figure BDA0002803216530000021
wherein S represents a distance between an actual and a target parking point of the vehicle, coordinates (x, y) of an actual position of the vehicle, and coordinates (x) of a target parking pointT,yT)，vxRepresenting the lateral velocity, v, of said vehicleyRepresenting a longitudinal vehicle speed of the vehicle.
According to one embodiment of the present invention, the target vehicle speed of the vehicle is obtained by the following formula:
vT＝kp·S，
wherein v isTRepresenting a target vehicle speed, k, of said vehiclepIndicating the scaling factor.
According to one embodiment of the invention, adjusting the vehicle speed command based on the difference comprises: when the difference value between the actual vehicle speed and the target vehicle speed is larger than the preset speed threshold value, controlling the vehicle speed command to reduce according to a first preset speed according to the difference value; and when the difference value between the target vehicle speed and the actual vehicle speed is greater than the preset speed threshold value, controlling the vehicle speed command to increase according to a second preset speed according to the difference value.
According to one embodiment of the present invention, adjusting the vehicle speed command according to the difference further comprises: and when the absolute value of the difference is smaller than or equal to the preset speed threshold, controlling the vehicle to run according to the speed command at the previous moment.
According to one embodiment of the invention, obtaining the target vehicle speed of the vehicle according to the lateral position error and the heading angle error of the vehicle comprises: when the transverse position error is within a preset transverse position error range and the course angle error is within a preset course angle error range, acquiring the target speed of the vehicle through the following formula:
vT＝vr+aTT，
wherein v isTRepresenting said target vehicle speed, vrIndicates a reference vehicle speed, aTRepresents the target acceleration, and T represents the delay time.
According to one embodiment of the invention, when the lateral position error is not within the preset lateral position error range or the course angle error is not within the preset course angle error range, a preset target vehicle speed is used as the target vehicle speed of the vehicle.
Corresponding to the method, the invention also provides a vehicle speed control device of the vehicle, which comprises the following steps: the first acquisition module is used for acquiring the transverse position error and the course angle error of the vehicle; the second acquisition module is used for acquiring the target speed of the vehicle according to the transverse position error and the course angle error of the vehicle; the third acquisition module is used for acquiring the actual speed of the vehicle; the calculation module is used for calculating the absolute value of the difference value between the actual vehicle speed and the target vehicle speed; and the control module is used for adjusting a vehicle speed instruction according to the absolute value of the difference, controlling the vehicle to run according to the adjusted vehicle speed instruction, acquiring the distance between the actual position of the vehicle and the target parking point in the running process of the vehicle, and controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point.
The invention also provides a vehicle corresponding to the device, and the vehicle speed control device comprises the vehicle speed control device.
The invention has the beneficial effects that:
the invention can obtain the target speed of the vehicle according to the transverse position error and the course angle error of the vehicle, and adjust the speed instruction according to the difference between the actual speed and the target speed of the vehicle, so that the vehicle can normally run under different working conditions, the vehicle is prevented from being decelerated and even parked, and meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and the target parking point, and the vehicle is parked at the accurate longitudinal control position.
Drawings
FIG. 1 is a flowchart of a vehicle speed control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a block diagram schematically illustrating a vehicle speed control apparatus of a vehicle according to an embodiment of the present invention;
fig. 3 is a block schematic diagram of a vehicle 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Fig. 1 is a flowchart of a vehicle speed control method of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a vehicle speed control method of a vehicle of an embodiment of the invention may include the steps of:
and S1, acquiring the lateral position error and the heading angle error of the vehicle.
In one embodiment of the invention, the transverse position error of the vehicle is a position error between the position of the mass center of the tail of the vehicle and a nearest reference point, and the course angle error is an error between a course angle of the mass center of the tail of the vehicle and a course angle of the nearest reference point. For example, it can be calculated by the following formula:
LlatErr＝(x-xref)cosψ+(y-yref)sinψref
vlaterr＝(vx-vxref)cosψ+(vy-vyref)sinψref
wherein L islatErrRepresenting position error, x and y representing the coordinates of the centroid position of the vehicle tail, xrefAnd yrefPosition coordinates representing a predetermined reference point,. phi.refCourse angle, v, representing a predetermined reference pointlaterrIndicating a velocity error, vxEast velocity, v, representing the centroid of the vehicle tailxrefEast velocity, v, representing a preset reference pointyRepresenting north velocity, v, of the centre of mass of the vehicle's tailyrefRepresenting the northbound speed of a preset reference point.
It should be noted that, because the current vehicle is equipped with inertial navigation, and the positioning sensor is installed at the vehicle head position of the vehicle, the position and the heading angle of the vehicle tail mass center can be obtained according to the position and the heading angle of the vehicle head mass center, for example, the position and the heading angle of the vehicle head joint point can be obtained by using a lever arm compensation method, the position and the heading angle of the vehicle tail hinge point can be obtained according to the relationship between the vehicle head joint point and the vehicle tail hinge point, and the position and the heading angle of the vehicle tail mass center can be obtained by using the lever arm compensation method.
And S2, acquiring the target vehicle speed of the vehicle according to the transverse position error and the heading angle error of the vehicle.
According to one embodiment of the invention, obtaining a target vehicle speed of a vehicle according to a lateral position error and a course angle error of the vehicle comprises: when the transverse position error is within the preset transverse position error range and the course angle error is within the preset course angle error range, acquiring the target speed of the vehicle through the following formula (1):
vT＝vr+aTT (1)
wherein v isTIndicating target vehicle speed, vrIndicates a reference vehicle speed, aTRepresents the target acceleration, and T represents the delay time.
Further, according to an embodiment of the present invention, when the lateral position error is not within the preset lateral position error range or the heading angle error is not within the preset heading angle error range, the preset target vehicle speed is taken as the target vehicle speed of the vehicle.
The preset lateral position error range, the preset course angle error range and the preset target vehicle speed can be calibrated according to actual conditions, for example, the preset lateral position error range can be [ -0.1m, 0.1m ], the preset course angle error range can be [ -15 °, 15 ° ], and the preset target vehicle speed can be 0.4 m/s.
That is, when the lateral position error is within the preset lateral position error range and the course angle error is within the preset course angle error range, the vehicle runs more stably, and the target vehicle speed of the vehicle is calculated according to the parameters corresponding to the current position of the vehicle, for example, the target vehicle speed is calculated by the above formula (1); and when the transverse position error is not in the preset transverse position error range or the course angle error is in the preset course angle error range, the vehicle is indicated to be unstable in running, in order to control the transverse control deviation of the vehicle to be rapidly reduced and improve the robustness of transverse control of the vehicle, the target vehicle speed is not calculated according to the formula, and the target vehicle speed is directly set to be a small fixed value, namely the preset target vehicle speed is used as the target vehicle speed of the vehicle.
It should be noted that, the vehicle memory stores a planned route for the vehicle to stop in advance, the planned route includes a series of points, and each planned point includes: the vehicle speed control method includes the steps that information such as position, speed (reference speed), acceleration (target acceleration), course direction and time interval is obtained, wherein the position, the speed, the acceleration and the time interval meet a fixed relation, for example, when a vehicle is started, the acceleration is large, the position interval of a planning point is larger and larger, when the vehicle speed reaches the target vehicle speed, the acceleration is reduced, the speed is basically unchanged, the planning point is basically equidistant, when the actual position of the vehicle is close to a target parking point, the acceleration is changed into a negative value, and the speed begins to be reduced. In addition, the delay time T refers to the delay time for starting to calculate the target vehicle speed and controlling the vehicle controller to start executing, and because of the delay, the whole control process adopts a speed control motor mode instead of adopting torque control.
S3, acquiring the actual vehicle speed of the vehicle, and calculating the difference value between the actual vehicle speed and the target vehicle speed.
When the transverse position error is within a preset transverse position error range and the course angle error is within a preset course angle error range, calculating the difference between the actual vehicle speed and the target vehicle speed obtained by the formula (1); and when the transverse position error is not within the preset transverse position error range or the course angle error is within the preset course angle error range, calculating the difference between the actual vehicle speed and the preset target vehicle speed.
And S4, adjusting the vehicle speed command according to the difference value, and controlling the vehicle to run according to the adjusted vehicle speed command.
According to one embodiment of the invention, adjusting the vehicle speed command according to the difference value comprises: when the difference value between the actual vehicle speed and the target vehicle speed is larger than a preset speed threshold value, controlling the vehicle speed command to reduce according to a first preset speed according to the difference value; and when the difference value between the target vehicle speed and the actual vehicle speed is greater than a preset speed threshold value, controlling the vehicle speed command to increase according to a second preset speed according to the difference value. The preset speed threshold, the first preset speed and the second preset speed can be calibrated according to actual conditions, for example, the preset speed threshold can be 0.2m/s, the first preset speed and the second preset speed are related to the difference between the actual vehicle speed and the target vehicle speed, that is, the first preset speed and the second preset speed are in positive correlation with the difference, the larger the difference is, the larger the first preset speed and the second preset speed are, the smaller the difference is, and the smaller the first preset speed and the second preset speed are.
Further, according to an embodiment of the present invention, the adjusting the vehicle speed command according to the difference value further includes: and when the absolute value of the difference value is less than or equal to the preset speed threshold value, controlling the vehicle to run according to the vehicle speed instruction at the previous moment.
Specifically, the allowable range of the difference between the actual vehicle speed and the target vehicle speed of the vehicle is +/-0.2 m/s, when the allowable range is exceeded, for example, when the difference between the actual vehicle speed and the target vehicle speed is greater than 0.2m/s, the actual vehicle speed is larger, in order to avoid unclean road surface, the vehicle speed needs to be reduced, and the vehicle speed command is controlled to be reduced according to a first preset speed rate until the difference is within the allowable range; when the difference between the target vehicle speed and the actual vehicle speed is greater than 0.2m/s (or the difference between the actual vehicle speed and the target vehicle speed is less than-0.2 m/s), in order to prevent the vehicle from decelerating and stopping, the vehicle speed needs to be increased, and the vehicle speed command is controlled to be increased according to a second preset speed until the difference is within an allowable range. In order to reduce the number of times of acceleration and deceleration and make the vehicle run more smoothly, when the difference value does not exceed the range, the last speed command is kept unchanged.
And S5, acquiring the distance between the actual position of the vehicle and the target parking point during the running process of the vehicle.
When the vehicle is an articulated vehicle, such as a sweeper truck, the distance between the centroid position of the head of the vehicle and the target parking point or the distance between the centroid position of the tail of the vehicle and the target parking point is acquired.
And S6, controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point.
According to one embodiment of the present invention, controlling a vehicle according to a distance includes: when the distance is smaller than a first preset distance threshold and larger than a second preset distance threshold, acquiring a target speed of the vehicle according to the distance, and controlling the vehicle to run at the target speed of the vehicle; and when the distance is smaller than or equal to a second preset distance threshold value, controlling the vehicle to stop. The first preset distance threshold and the second preset distance threshold may be calibrated according to actual conditions, for example, the first preset distance threshold may be 3m, and the second preset distance threshold may be 0.2 m.
Further, according to an embodiment of the present invention, the distance between the actual position of the vehicle and the target parking point is obtained by the following formula:
Figure BDA0002803216530000081
wherein S represents a distance between an actual position of the vehicle and the target parking point, coordinates (x, y) of the actual position of the vehicle, and coordinates (x) of the target parking pointT,yT)，vxIndicating the lateral speed, v, of the vehicleyIndicating the longitudinal speed of the vehicle.
Further, according to an embodiment of the present invention, the target vehicle speed of the vehicle is obtained by the following formula (2):
vT＝kp·S (2)
wherein v isTIndicating the target vehicle speed, k, of the vehiclepIndicating the scaling factor.
Specifically, when the vehicle is approaching the target parking point (assuming that the actual position of the vehicle is 3m or less away from the target parking point)) Then, a target vehicle speed of the vehicle is acquired using a distance-dependent control pattern assuming that v representsxRepresents the lateral velocity (velocity in the x-coordinate direction), v, of the vehicleyRepresenting the longitudinal vehicle speed (speed in the y-coordinate direction) of the vehicle, the unit vector of the speed direction can be expressed as:
Figure BDA0002803216530000082
let us assume coordinates (x, y) of the real-time position of the vehicle, coordinates (x) of the target parking pointT,yT) The distance between the actual position of the vehicle and the target parking point is:
Figure BDA0002803216530000083
and when the distance between the actual position of the vehicle and the target parking point is greater than a second preset distance threshold (such as 0.2m), calculating the target vehicle speed of the vehicle according to the formula (2), controlling the vehicle to run according to the target vehicle speed until the distance between the actual position of the vehicle and the target parking point is less than the second preset distance threshold, and controlling the vehicle to park.
As an example of the invention, taking a vehicle as an articulated vehicle (a sanitation sweeper) as an example, by the control logic, the longitudinal accurate parking of the articulated vehicle can be realized, the garbage on the sweeper can be accurately dumped into the garbage can, and the garbage on the sweeper can be prevented from being dumped out of the garbage can or colliding with the garbage can due to a large deviation between the vehicle and a target parking point.
In conclusion, the target vehicle speed of the vehicle can be obtained according to the transverse position error and the course angle error of the vehicle, the vehicle speed instruction is adjusted according to the difference value between the actual vehicle speed and the target vehicle speed of the vehicle, so that the vehicle can normally run under different working conditions, the situation that the vehicle decelerates and even stops is avoided, meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and the target stopping point, and the vehicle is stopped at the accurate longitudinal control position.
Fig. 2 is a block diagram schematically showing a vehicle speed control apparatus of a vehicle according to an embodiment of the present invention.
As shown in fig. 2, the vehicle speed control device of the vehicle of the invention may include: a first acquisition module 10, a second acquisition module 20, a third acquisition module 30, a calculation module 40 and a control module 50.
The first obtaining module 10 is configured to obtain a lateral position error and a heading angle error of the vehicle. The second obtaining module 20 is configured to obtain a target vehicle speed of the vehicle according to the lateral position error and the heading angle error of the vehicle. The third obtaining module 30 is used for obtaining the actual speed of the vehicle. The calculation module 40 is used for calculating the absolute value of the difference between the actual vehicle speed and the target vehicle speed. The control module 50 is configured to adjust the vehicle speed command according to the absolute value of the difference, control the vehicle to run according to the adjusted vehicle speed command, acquire a distance between the actual position of the vehicle and the target parking point during the running of the vehicle, and control the vehicle according to the distance between the actual position of the vehicle and the target parking point.
According to an embodiment of the present invention, the control module 50 controls the vehicle according to the distance, and specifically, when the distance is smaller than a first preset distance threshold and larger than a second preset distance threshold, obtains a target vehicle speed of the vehicle according to the distance, and controls the vehicle to run at the vehicle target vehicle speed; and when the distance is smaller than or equal to a second preset distance threshold value, controlling the vehicle to stop.
According to one embodiment of the present invention, the control module 50 obtains the distance between the actual position of the vehicle and the target parking point by the following formula:
Figure BDA0002803216530000101
wherein S represents a distance between an actual position of the vehicle and the target parking point, coordinates (x, y) of the actual position of the vehicle, and coordinates (x) of the target parking pointT,yT)，vxIndicating the lateral speed, v, of the vehicleyIndicating the longitudinal speed of the vehicle.
According to one embodiment of the invention, the control module 50 obtains the target vehicle speed of the vehicle by the following equation:
vT＝kp·S，
wherein v isTIndicating the target vehicle speed, k, of the vehiclepIndicating the scaling factor.
According to one embodiment of the invention, the control module 50 adjusts the vehicle speed command according to the difference, specifically, controls the vehicle speed command to decrease at a first preset rate according to the difference when the difference between the actual vehicle speed and the target vehicle speed is greater than a preset speed threshold; and when the difference value between the target vehicle speed and the actual vehicle speed is greater than a preset speed threshold value, controlling the vehicle speed command to increase according to a second preset speed according to the difference value.
According to an embodiment of the present invention, the control module 50 adjusts the vehicle speed command according to the difference, and is further configured to control the vehicle to travel according to the vehicle speed command at the previous moment when the absolute value of the difference is less than or equal to a preset speed threshold.
According to an embodiment of the present invention, the second obtaining module 20 obtains the target vehicle speed of the vehicle according to the lateral position error and the heading angle error of the vehicle, and is specifically configured to obtain the target vehicle speed of the vehicle by the following formula when the lateral position error is within the preset lateral position error range and the heading angle error is within the preset heading angle error range:
vT＝vr+aTT，
wherein v isTIndicating target vehicle speed, vrIndicates a reference vehicle speed, aTRepresents the target acceleration, and T represents the delay time.
According to an embodiment of the present invention, the second obtaining module 20 is further configured to use the preset target vehicle speed as the target vehicle speed of the vehicle when the lateral position error is not within the preset lateral position error range or the course angle error is not within the preset course angle error range.
It should be noted that, for details that are not disclosed in the vehicle speed control device of the vehicle according to the embodiment of the present invention, please refer to details that are disclosed in the vehicle speed control method of the vehicle according to the embodiment of the present invention, and detailed description thereof is omitted here.
According to the vehicle speed control device of the vehicle, the target vehicle speed of the vehicle can be obtained according to the transverse position error and the course angle error of the vehicle, the vehicle speed command is adjusted according to the difference value between the actual vehicle speed and the target vehicle speed of the vehicle, so that the vehicle can normally run under different working conditions, the situation that the vehicle decelerates and even stops is avoided, and meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and a target stopping point, and the vehicle is stopped at the accurate longitudinal control position.
Fig. 3 is a block schematic diagram of a vehicle according to an embodiment of the present invention.
As shown in fig. 3, the vehicle 100 of the embodiment of the invention may include the vehicle speed control device 110 of the vehicle described above.
According to the vehicle, the target vehicle speed of the vehicle can be obtained according to the transverse position error and the course angle error of the vehicle through the vehicle speed control device, the vehicle speed command is adjusted according to the difference value between the actual vehicle speed and the target vehicle speed of the vehicle, so that the vehicle can normally run under different working conditions, the situation that the vehicle decelerates and even stops is avoided, meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and the target stopping point, and the vehicle is stopped at the accurate longitudinal control position.
The invention also provides a computer device which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the vehicle speed control method of the vehicle is realized.
According to the computer equipment, by executing the control method, the target speed of the vehicle can be obtained according to the transverse position error and the course angle error of the vehicle, the vehicle speed instruction is adjusted according to the difference value between the actual speed and the target speed of the vehicle, so that the vehicle can normally run under different working conditions, the situation that the vehicle decelerates and even stops is avoided, and meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and the target stop point, and the vehicle is stopped at the accurate longitudinal control position.
In correspondence with the above method, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above vehicle speed control method of a vehicle.
According to the non-transitory computer readable storage medium, the control method is executed to obtain the target speed of the vehicle according to the transverse position error and the course angle error of the vehicle, and adjust the speed command according to the difference value between the actual speed and the target speed of the vehicle, so that the vehicle can normally run under different working conditions, the situation that the vehicle decelerates or even stops is avoided, and meanwhile, the vehicle is controlled according to the distance between the position of the vehicle and the target stopping point, and the vehicle is stopped at the accurate longitudinal control position.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A vehicle speed control method of a vehicle, characterized by comprising the steps of:
acquiring a transverse position error and a course angle error of the vehicle;
acquiring a target speed of the vehicle according to the transverse position error and the course angle error of the vehicle;
acquiring the actual speed of the vehicle, and calculating the difference between the actual speed and the target speed;
adjusting a vehicle speed instruction according to the difference value, and controlling the vehicle to run according to the adjusted vehicle speed instruction;
acquiring the distance between the actual position of the vehicle and a target parking point in the running process of the vehicle;
and controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point.
2. The vehicle speed control method of a vehicle according to claim 1, wherein controlling the vehicle in accordance with the distance includes:
when the distance is smaller than a first preset distance threshold and larger than a second preset distance threshold, acquiring a target speed of the vehicle according to the distance, and controlling the vehicle to run at the target speed of the vehicle;
and when the distance is smaller than or equal to the second preset distance threshold value, controlling the vehicle to stop.
3. The vehicle speed control method of a vehicle according to claim 2, characterized in that the distance between the actual position of the vehicle and the target stop point is obtained by the following formula:
Figure FDA0002803216520000011
wherein S represents a distance between an actual position of the vehicle and a target parking point, coordinates (x, y) of the actual position of the vehicle, and coordinates (x) of the target parking pointT,yT)，vxRepresenting the lateral velocity, v, of said vehicleyRepresenting a longitudinal vehicle speed of the vehicle.
4. The vehicle speed control method of a vehicle according to claim 3, characterized in that the target vehicle speed of the vehicle is obtained by the following formula:
vT＝kp·S，
wherein v isTRepresenting a target vehicle speed, k, of said vehiclepIndicating the scaling factor.
5. The vehicle speed control method of a vehicle according to claim 1, wherein adjusting a vehicle speed command according to the difference value includes:
when the difference value between the actual vehicle speed and the target vehicle speed is larger than the preset speed threshold value, controlling the vehicle speed command to reduce according to a first preset speed according to the difference value;
and when the difference value between the target vehicle speed and the actual vehicle speed is greater than the preset speed threshold value, controlling the vehicle speed command to increase according to a second preset speed according to the difference value.
6. The vehicle speed control method of a vehicle according to claim 5, wherein adjusting a vehicle speed command according to the difference value further comprises:
and when the absolute value of the difference is smaller than or equal to the preset speed threshold, controlling the vehicle to run according to the speed command at the previous moment.
7. The vehicle speed control method of a vehicle according to claim 1, wherein obtaining the target vehicle speed of the vehicle from the lateral position error and the heading angle error of the vehicle includes:
when the transverse position error is within a preset transverse position error range and the course angle error is within a preset course angle error range, acquiring the target speed of the vehicle through the following formula:
vT＝vr+aTT，
wherein v isTRepresenting said target vehicle speed, vrIndicates a reference vehicle speed, aTRepresents the target acceleration, and T represents the delay time.
8. The vehicle speed control method of a vehicle according to claim 7, wherein,
and when the transverse position error is not in the preset transverse position error range or the course angle error is not in the preset course angle error range, taking a preset target speed as the target speed of the vehicle.
9. A vehicle speed control device of a vehicle, characterized by comprising:
the first acquisition module is used for acquiring the transverse position error and the course angle error of the vehicle;
the second acquisition module is used for acquiring the target speed of the vehicle according to the transverse position error and the course angle error of the vehicle;
the third acquisition module is used for acquiring the actual speed of the vehicle;
the calculation module is used for calculating the absolute value of the difference value between the actual vehicle speed and the target vehicle speed;
and the control module is used for adjusting a vehicle speed instruction according to the absolute value of the difference, controlling the vehicle to run according to the adjusted vehicle speed instruction, acquiring the distance between the actual position of the vehicle and the target parking point in the running process of the vehicle, and controlling the vehicle according to the distance between the actual position of the vehicle and the target parking point.
10. A vehicle characterized by comprising the vehicle speed control apparatus of the vehicle according to claim 9.
CN202011358135.7A 2020-11-27 2020-11-27 Vehicle and vehicle speed control method and device thereof Pending CN112373316A (en)

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