CN113104035A - Vehicle control method, system, electronic device and storage medium - Google Patents

Vehicle control method, system, electronic device and storage medium Download PDF

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Publication number
CN113104035A
CN113104035A CN202110507927.4A CN202110507927A CN113104035A CN 113104035 A CN113104035 A CN 113104035A CN 202110507927 A CN202110507927 A CN 202110507927A CN 113104035 A CN113104035 A CN 113104035A
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vehicle
controlled vehicle
speed
acceleration
relative
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CN113104035B (en
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程德心
王有为
叶雄飞
张佳琦
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Wuhan Kotei Informatics Co Ltd
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Wuhan Kotei Informatics 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
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • 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

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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)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a vehicle control method, a vehicle control system, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, and calculating the planned speed and position deviation of the controlled vehicle based on the controlled vehicle information and the reference vehicle information; calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; and searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle, and controlling the controlled vehicle. The invention solves the problems of unreasonable control of the following distance, unstable control of the following speed, unsmooth acceleration and the like of the vehicle when the adaptive cruise control ACC follows the vehicle by using a multi-layer PID (proportion integration differentiation) cascading mode, and has the advantages of good control effect, small calculated amount, high practicability, safety, comfort, reasonability and the like.

Description

Vehicle control method, system, electronic device and storage medium
Technical Field
The present invention relates to the field of automatic driving control, and more particularly, to a vehicle control method, system, electronic device, and storage medium.
Background
ADAS in the field of autonomous driving includes functions such as adaptive cruise control ACC, lane keeping LKA, emergency braking AEB, and the like. The advanced driving assistance system ADAS aims to enable a driver to perceive possible dangers in advance and effectively improve the comfort and safety of automobile driving.
The adaptive cruise control ACC system detects information such as pose, speed and the like of a front vehicle through a millimeter wave radar and a camera system which are installed in front of the vehicle, and then controls the vehicle to run along with the front vehicle in a safe and comfortable manner according to running conditions of the vehicle, and a certain safe distance is kept.
The conventional ACC system is mainly controlled by linear acceleration and deceleration, table lookup, single-stage PID and other modes, the control effect is not comfortable enough, and the problems of acceleration jump, unstable following distance, long ACC entering time and the like exist.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control system, an electronic device and a storage medium, aiming at the technical problems in the prior art.
According to a first aspect of the present invention, there is provided a vehicle control method including: acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, wherein the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; and controlling the controlled vehicle based on the accelerator or brake value.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the obtaining of the information of the controlled vehicle and the obtaining of the information of the reference vehicle in front of the controlled vehicle include: acquiring the current speed V of the controlled vehicle through a sensor on the chassis of the controlled vehiclecarAnd the current acceleration Acar(ii) a Acquiring the relative speed V of a reference vehicle in front of a controlled vehicle relative to the controlled vehicle through a millimeter wave radar and a camera which are arranged in front of the controlled vehiclerelativeAnd a relative distance Drelative。
Optionally, the calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed of the reference vehicle relative to the controlled vehicle, and the relative distance includes: according to the current speed V of the controlled vehiclecarAnd the relative speed V of the reference vehicle in front of the controlled vehicle relative to the controlled vehiclerelativeCalculating the current speed V of the reference vehicleref＝Vcar+Vrelative(ii) a Taking the current speed of the reference vehicle as the planned speed V of the controlled vehicletarget＝VrefThe positional deviation is calculated by the following formula:
Diserr＝Drelative-Vref*Tcollision；
therein, DiserrFor positional deviation, VrefFor reference to the current speed of the vehicle, TcollisionThe time to collision is represented and may be a tuning parameter.
Optionally, calculating an expected acceleration of the controlled vehicle based on the cascaded position PID controller, speed PID controller and acceleration PID controller according to the planned speed, the position deviation and the current acceleration of the controlled vehicle, including: deviation of position DiserrInputting a position PID controller from the bitA PID controller is arranged to calculate a corresponding speed compensation value Vmend(ii) a Based on the velocity compensation value Vmend, the programming velocity VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error Verr(ii) a Error of velocity VerrInputting the acceleration compensation value A into a speed PID controller, and calculating the corresponding acceleration compensation value A by the speed PID controllermend(ii) a Based on the acceleration compensation value AmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error Aerr(ii) a Will accelerate the error AerrAnd inputting the acceleration PID controller, and calculating the corresponding expected acceleration by the acceleration PID controller.
Optionally, based on the speed compensation value VmendAnd a planning speed VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error Verr，The method comprises the following steps: speed error VerrVelocity compensation value Vmend+ programmed speed Vtarget-the current speed V of the controlled vehiclecar。
Optionally, the compensation value A is based on accelerationmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error AerrThe method comprises the following steps: error of acceleration AerrAcceleration compensation value AmendCurrent acceleration A of the controlled vehiclecar。
Optionally, the searching for the corresponding throttle or brake value according to the current speed and the expected acceleration of the controlled vehicle includes: according to the current speed V of the controlled vehiclecarAnd the expected acceleration is searched in a two-dimensional linear table to obtain a corresponding throttle value or a corresponding brake value; and the two-dimensional linear table stores the corresponding relation between the current speed and the expected acceleration of the vehicle and the throttle value or the brake value.
According to a second aspect of the present invention, there is provided a vehicle control system comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring controlled vehicle information and reference vehicle information in front of a controlled vehicle, the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of a reference vehicle relative to the controlled vehicle; the first calculation module is used for calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; the second calculation module is used for calculating the expected acceleration of the controlled vehicle based on the cascaded position PID controller, the speed PID controller and the acceleration PID controller according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; the searching module is used for searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; and the control module is used for controlling the controlled vehicle based on the accelerator or brake value.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the vehicle control method when executing a computer management like program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management-like program, which when executed by a processor, implements the steps of a vehicle control method.
According to the vehicle control method, the vehicle control system, the electronic device and the storage medium, the problems that the adaptive cruise control ACC is unreasonable in following distance control, unstable in following speed control, unsmooth in vehicle acceleration and the like are solved in a cascading mode through the multilayer PID controller, and the vehicle control method, the system, the electronic device and the storage medium have the advantages of being good in control effect, small in calculated amount, high in practicability, safe, comfortable and reasonable and the like.
Drawings
FIG. 1 is a flow chart of a vehicle control method provided by the present invention;
FIG. 2 is a flow chart of the present invention for controlling a vehicle based on a multi-layer cascaded PID controller;
FIG. 3 is a schematic diagram of a vehicle control system according to the present invention;
FIG. 4 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 5 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a vehicle control method provided by the present invention, and as shown in fig. 1, the method includes: 101. acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, wherein the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; 102. calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; 103. calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; 104. searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; 105. and controlling the controlled vehicle based on the accelerator or brake value.
It can be understood that the control mode of the current adaptive cruise control ACC system to the vehicle is mainly controlled by linear acceleration and deceleration, table lookup, single-stage PID and other control modes, the control effect is not comfortable enough, and the problems of acceleration jump, unstable following distance, long control time and the like exist.
Based on the control method, the embodiment of the invention provides a mode of cascade connection of multiple layers of PID controllers to control the vehicle. Specifically, controlled vehicle information and reference vehicle information in front of a controlled vehicle are respectively acquired, the planned speed and the position deviation of the controlled vehicle are calculated based on the controlled vehicle information and the reference vehicle information, and then the expected acceleration of the controlled vehicle is finally calculated through a three-level PID controller by combining a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded based on the planned speed, the position deviation and the controlled vehicle information.
Note that, the PID controller (performance Integration differentiation. proportional-integral-derivative controller) is composed of a proportional unit P, an integral unit I, and a derivative unit D. By Kp, KiAnd KdSetting three parameters. PID controllers, which are commonly found in industrial control applications as feedback loop components, are primarily suitable for systems where the basic linearity and dynamics do not change over time. The controller compares the collected data with a reference value and uses the difference to calculate a new input value, the purpose of the new input value is to enable the data of the system to reach or maintain the reference value, and unlike other simple control operations, the PID controller can adjust the input value according to the historical data and the occurrence rate of the difference, so that the system can be more accurate and more stable. It can be shown mathematically that a PID feedback loop can maintain the stability of the system in the event that other control methods result in a system with a stability error or process iteration.
After the expected acceleration of the controlled vehicle is finally calculated through the three-level PID controller, the corresponding throttle value or brake value of the controlled vehicle is searched according to the expected acceleration and the current speed of the controlled vehicle, and the controlled vehicle is controlled based on the throttle value or brake value.
The invention solves the problems of unreasonable control of the following distance, unstable control of the following speed, unsmooth acceleration and the like of the vehicle when the adaptive cruise control ACC follows the vehicle by using a multi-layer PID (proportion integration differentiation) cascading mode, and has the advantages of good control effect, small calculated amount, high practicability, safety, comfort, reasonability and the like.
In a possible embodiment mode, when the controlled vehicle information is obtained, the speed V of the vehicle is obtained through a sensor on the chassis of the vehicle (the controlled vehicle)carAnd acceleration Acar(ii) a Acquiring the relative speed V of a reference vehicle in front of a road relative to a controlled vehicle through a millimeter wave radar and camera system arranged in front of the controlled vehiclerelativeAnd a relative distance Drelative
In one possible embodiment modeAccording to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle, the planning speed and the position deviation of the controlled vehicle are calculated, and the method comprises the following steps: according to the current speed V of the controlled vehiclecarAnd the relative speed V of the reference vehicle in front of the controlled vehicle relative to the controlled vehiclerelativeCalculating the current speed V of the reference vehicleref＝Vcar+Vrelative(ii) a Taking the current speed of the reference vehicle as the planned speed V of the controlled vehicletarget＝VrefThe positional deviation is calculated by the following formula:
Diserr＝Drelative-Vref*Tcollision；(1)
therein, DiserrFor positional deviation, VrefFor reference to the current speed of the vehicle, TcollisionThe time to collision is represented and may be a tuning parameter.
It can be understood that the speed V of the controlled vehicle is obtainedcarAnd acceleration AcarAnd the relative speed V of the reference vehicle relative to the controlled vehiclerelativeAnd a relative distance DrelativeThe speed V of the front reference vehicle can be calculatedref＝Vcar+Vrelative。
Calculating position deviation and conversation speed according to the controlled vehicle information and the reference vehicle information, wherein when the vehicle in front is not detected, namely the controlled vehicle does not have the reference vehicle in front, the planned speed V of the controlled vehicle is calculatedtargetThe driver sets the vehicle speed and the position deviation Diserr0; when a vehicle in front is detected, the planning speed is equal to the speed of the front vehicle, namely: vtarget＝VrefThe position deviation is equal to the relative distance-following-time distance, wherein the following-time distance is the speed of the front vehicle and the collision time, i.e. the position deviation Diserr＝Drelative-Vref*TcollisionWherein T iscollisionThe time to collision is represented and may be a tuning parameter.
In one possible embodiment, the position PID control is based on cascade connection according to the planned speed, the position deviation and the current acceleration of the controlled vehicleThe device, the speed PID controller and the acceleration PID controller calculate the expected acceleration of the controlled vehicle, and comprises the following steps: deviation of position DiserrInputting the position PID controller, and calculating corresponding speed compensation value V by the position PID controllermend(ii) a Based on the velocity compensation value VmendAnd a planning speed VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error Verr(ii) a Error of velocity VerrInputting the acceleration compensation value A into a speed PID controller, and calculating the corresponding acceleration compensation value A by the speed PID controllermend(ii) a Based on the acceleration compensation value AmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error Aerr(ii) a Will accelerate the error AerrAnd inputting the acceleration PID controller, and calculating the corresponding expected acceleration by the acceleration PID controller.
It can be understood that the position deviation Dis is obtained in the process of adjusting and controlling the controlled vehicle based on the multi-layer cascade PID controllererrInputting the speed compensation value into a position PID controller, and calculating a corresponding speed compensation value V by the position PID controller by using a PID algorithm according to the change condition of the position deviationmendThe speed error of the vehicle is adjusted, so that the vehicle can keep the following distance smoothly and stably.
The position PID controller calculates the corresponding speed compensation value VmendBased on the velocity compensation value VmendAnd a planning speed VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error VerrThe method comprises the following steps: speed error VerrVelocity compensation value Vmend+ programmed speed Vtarget-the current speed V of the controlled vehiclecar。
Inputting the calculated speed error into a speed PID controller, and calculating a corresponding acceleration compensation value A by the speed PID controller by using a PID algorithm according to the change condition of the speed errormendThe method is used for adjusting the acceleration of the vehicle, so that the vehicle can maintain a smooth and stable planning speed while correcting the position deviation.
The corresponding acceleration compensation value A is calculated by a speed PID controllermendBased on the acceleration compensation value AmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error AerrThe method comprises the following steps: error of acceleration AerrAcceleration compensation value AmendCurrent acceleration A of the controlled vehiclecar。
Will accelerate the error AerrAnd inputting the acceleration error into an acceleration PID controller, and calculating the corresponding expected acceleration by using a PID algorithm according to the change condition of the acceleration error by the acceleration PID controller. The position PID controller, the speed PID controller and the acceleration PID controller have adjusted the speed, the acceleration and the like of the controlled vehicle, and finally output the desired acceleration of the controlled vehicle.
In one possible embodiment, the finding of the corresponding throttle or brake value according to the current speed and the expected acceleration of the controlled vehicle comprises: according to the current speed V of the controlled vehiclecarAnd the expected acceleration is searched in a two-dimensional linear table to obtain a corresponding throttle value or a corresponding brake value; the two-dimensional linear table stores the corresponding relation between the current speed and the expected acceleration of the vehicle and the throttle value or the brake value.
It can be understood that the expected acceleration of the controlled vehicle is calculated according to the multi-layer cascaded PID controller, and the current speed V of the controlled vehicle is calculated according to the current speed V of the controlled vehiclecarAnd the expected acceleration is subjected to two-dimensional linear search, a corresponding throttle value or brake value is obtained, and then the controlled vehicle is controlled according to the obtained throttle value or brake value.
Referring to fig. 2, which is a schematic diagram of a process of controlling a controlled vehicle by three-layer cascaded PID controllers, first, a position deviation is input into the PID controllers, and a speed compensation value is output; and calculating the speed deviation according to the speed compensation value, the planned speed and the current speed of the controlled vehicle. Inputting the speed deviation into a speed PID controller, and outputting an acceleration compensation value; and calculating the acceleration deviation according to the acceleration compensation value and the current acceleration of the controlled vehicle. The acceleration deviation is input into an acceleration PID controller, and a desired acceleration is output. And according to the expected acceleration output by the acceleration PID controller and the current speed of the controlled vehicle, performing two-dimensional linear search, acquiring a corresponding throttle value or brake value, and controlling the controlled vehicle according to the throttle value or brake value.
Fig. 3 is a structural diagram of a vehicle control system according to an embodiment of the present invention, and as shown in fig. 3, the vehicle control system includes an obtaining module 301, a first calculating module 302, a second calculating module 303, a searching module 304, and a control module 305, where:
an obtaining module 301, configured to obtain controlled vehicle information and obtain reference vehicle information in front of a controlled vehicle, where the controlled vehicle information includes a current speed and a current acceleration of the controlled vehicle, and the reference vehicle information includes a relative speed and a relative distance of the reference vehicle with respect to the controlled vehicle; the first calculation module 302 is used for calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; a second calculating module 303, configured to calculate, according to the planned speed, the position deviation, and the current acceleration of the controlled vehicle, an expected acceleration of the controlled vehicle based on a cascaded position PID controller, a speed PID controller, and an acceleration PID controller; the searching module 304 is used for searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; and a control module 305 for controlling the controlled vehicle based on the throttle or brake value.
It can be understood that the vehicle control system provided by the embodiment of the present invention corresponds to the vehicle control method provided by each of the foregoing embodiments, and the relevant technical features of the vehicle control system may refer to the relevant technical features of the vehicle control method, and are not described herein again.
Referring to fig. 4, fig. 4 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 4, an embodiment of the present invention provides an electronic device, which includes a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and executable on the processor 420, and when the processor 420 executes the computer program 411, the following steps are implemented: acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, wherein the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; and controlling the controlled vehicle based on the accelerator or brake value.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 5, the present embodiment provides a computer-readable storage medium 500 having a computer program 511 stored thereon, the computer program 511 implementing the following steps when executed by a processor: acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, wherein the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle; calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle; searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle; and controlling the controlled vehicle based on the accelerator or brake value.
According to the vehicle control method, the vehicle control system and the storage medium, the problems that the distance control of the adaptive cruise control ACC is not reasonable enough when the vehicle follows the vehicle, the following speed control is unstable, the vehicle acceleration is not smooth and the like are solved in a cascading mode by using the multilayer PID controller, and the vehicle control method, the vehicle control system and the storage medium have the advantages of being good in control effect, small in calculated amount, high in practicability, safe, comfortable and reasonable and the like.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A vehicle control method characterized by comprising:
acquiring controlled vehicle information and reference vehicle information in front of the controlled vehicle, wherein the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle;
calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle;
calculating the expected acceleration of the controlled vehicle based on a position PID controller, a speed PID controller and an acceleration PID controller which are cascaded according to the planned speed, the position deviation and the current acceleration of the controlled vehicle;
searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle;
and controlling the controlled vehicle based on the accelerator or brake value.
2. The vehicle control method according to claim 1, wherein the acquiring of the controlled vehicle information and the acquiring of the reference vehicle information ahead of the controlled vehicle include:
acquiring the current speed V of the controlled vehicle through a sensor on the chassis of the controlled vehiclecarAnd the current acceleration Acar；
Acquiring the relative speed V of a reference vehicle in front of a controlled vehicle relative to the controlled vehicle through a millimeter wave radar and a camera which are arranged in front of the controlled vehiclerelativeAnd a relative distance Drelative。
3. The vehicle control method according to claim 2, wherein the calculating of the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle with respect to the controlled vehicle comprises:
according to the current speed V of the controlled vehiclecarAnd the relative speed V of the reference vehicle in front of the controlled vehicle relative to the controlled vehiclerelativeCalculating the current speed V of the reference vehicleref＝Vcar+Vrelative；
Taking the current speed of the reference vehicle as the planned speed V of the controlled vehicletarget＝VrefThe positional deviation is calculated by the following formula:
Diserr＝Drelative-Vref*Tcollision；
therein, DiserrFor positional deviation, VrefFor reference to the current speed of the vehicle, TcollisionThe time to collision is represented and may be a tuning parameter.
4. The vehicle control method according to claim 3, wherein calculating a desired acceleration of the controlled vehicle based on a cascade of a position PID controller, a velocity PID controller, and an acceleration PID controller according to the planned speed, the position deviation, and a current acceleration of the controlled vehicle comprises:
deviation of position DiserrInput to a position PID controller, counted by said position PID controllerCalculating corresponding speed compensation value Vmend；
Based on the velocity compensation value VmendAnd a planning speed VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error Verr；
Error of velocity VerrInputting the acceleration compensation value A into a speed PID controller, and calculating the corresponding acceleration compensation value A by the speed PID controllermend；
Based on the acceleration compensation value AmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error Aerr；
Will accelerate the error AerrAnd inputting the acceleration PID controller, and calculating the corresponding expected acceleration by the acceleration PID controller.
5. The vehicle control method according to claim 4, characterized in that the speed compensation value V is basedmendAnd a planning speed VtargetAnd the current speed V of the controlled vehiclecarCalculating the velocity error VerrThe method comprises the following steps:
speed error VerrVelocity compensation value Vmend+ programmed speed Vtarget-the current speed V of the controlled vehiclecar。
6. The vehicle control method according to claim 4, characterized in that the acceleration-based compensation value AmendAnd the current acceleration A of the controlled vehiclecarCalculating an acceleration error AerrThe method comprises the following steps:
error of acceleration AerrAcceleration compensation value AmendCurrent acceleration A of the controlled vehiclecar。
7. The vehicle control method according to any one of claims 1-6, wherein the searching for the corresponding throttle or brake value according to the current speed and the desired acceleration of the controlled vehicle comprises:
according to the current speed V of the controlled vehiclecarAnd desire toThe acceleration is searched in a two-dimensional linear table, and a corresponding throttle value or a corresponding brake value is obtained;
and the two-dimensional linear table stores the corresponding relation between the current speed and the expected acceleration of the vehicle and the throttle value or the brake value.
8. A vehicle control system, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring controlled vehicle information and reference vehicle information in front of a controlled vehicle, the controlled vehicle information comprises the current speed and the current acceleration of the controlled vehicle, and the reference vehicle information comprises the relative speed and the relative distance of a reference vehicle relative to the controlled vehicle;
the first calculation module is used for calculating the planned speed and the position deviation of the controlled vehicle according to the current speed of the controlled vehicle, the relative speed and the relative distance of the reference vehicle relative to the controlled vehicle;
the second calculation module is used for calculating the expected acceleration of the controlled vehicle based on the cascaded position PID controller, the speed PID controller and the acceleration PID controller according to the planned speed, the position deviation and the current acceleration of the controlled vehicle;
the searching module is used for searching a corresponding accelerator or brake value according to the current speed and the expected acceleration of the controlled vehicle;
and the control module is used for controlling the controlled vehicle based on the accelerator or brake value.
9. An electronic device, comprising a memory, a processor for implementing the steps of the vehicle control method according to any one of claims 1-7 when executing a computer management like program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer management-like program is stored thereon, which, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 7.
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