CN113188814A - Automatic driving reproduction method, system and storage medium - Google Patents
Automatic driving reproduction method, system and storage medium Download PDFInfo
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Abstract
The present application relates to the field of vehicle driving cycle testing, and in particular, to an automatic driving recurrence method, system, and storage medium. The method comprises the following steps: acquiring a first target corresponding relation between a target vehicle speed array and a target time array; enabling the vehicle to carry out a previous driving process according to the first target corresponding relation; acquiring a test driving style signal and a test vehicle speed signal in the prior driving process; sampling the test driving style signal and the test vehicle speed signal, and determining a test driving corresponding relation; determining an alignment time array between the target time array and the sampling time array, so that the first target corresponding relation and the test driving corresponding relation are aligned and integrated correspondingly according to the alignment time array to form a second target corresponding relation; and performing a subsequent driving process according to the second target corresponding relation, so that the subsequent driving process reproduces the previous driving process when aligning the time array. The method and the device can control the last driving cycle to be repeated, improve the repeatability of the test and reduce the difficulty of parameter optimization.
Description
Technical Field
The present application relates to the field of vehicle driving cycle testing, and in particular, to an automatic driving recurrence method, system, and storage medium.
Background
During the development of the vehicle, a large number of driving cycle tests are required on the rotating hub to optimize and verify the parameters of the data of each controller of the vehicle. For example, engine control parameters need to be iteratively optimized to meet national constraints on light vehicle emissions and fuel consumption at various stages.
In the hub test process of the related art, a tester needs to perform a driving test on a vehicle according to a preset target vehicle speed curve.
However, this related art cannot guarantee that the driving styles of the respective testers are identical, resulting in differences in the respective test results even if the vehicle states and data are made identical. The influence of the driving style difference of the testers on the test result increases the difficulty of parameter optimization.
Disclosure of Invention
In order to improve the interference of the difference of the driving styles to the cycle test result, a method capable of automatically driving to control and reproduce the last driving cycle needs to be developed, so that the test repeatability is improved, and the parameter optimization difficulty is reduced.
In order to solve the technical problem in the background art, a first aspect of the present application provides an automatic driving recurrence method, including:
acquiring a first target corresponding relation between a target vehicle speed array and a target time array;
enabling the vehicle to carry out a previous driving process according to the first target corresponding relation;
acquiring a test driving style signal and a test vehicle speed signal in the prior driving process;
based on a specific sampling frequency, sampling the test driving style signal and the test vehicle speed signal, and determining a test driving style data array corresponding to the sampling time array and a test driving corresponding relation between the test driving style data array and the test vehicle speed array;
determining an alignment time array between the target time array and the sampling time array, so that the first target corresponding relation and the test driving corresponding relation are correspondingly aligned and integrated according to the alignment time array to form a second target corresponding relation;
and carrying out a subsequent driving process according to the second target corresponding relation, so that the subsequent driving process reproduces the previous driving process when the alignment time array is obtained.
Optionally, the pedal operation state includes a brake operation and a throttle operation.
Optionally, the step of enabling a following driving process to reproduce the preceding driving process according to the second target correspondence includes:
determining whether to perform braking operation at the alignment time in the alignment time array based on the second target corresponding relation;
determining to perform braking operation, and acquiring a test braking degree value corresponding to the alignment moment based on the second target corresponding relation;
and controlling the vehicle to perform braking operation based on the test braking range value, so that the actual vehicle speed of the vehicle at the alignment moment reaches the corresponding target vehicle speed.
Optionally, the step of controlling the vehicle to perform a braking operation based on the test braking range value so that an actual vehicle speed of the vehicle at the alignment time reaches a corresponding target vehicle speed includes:
acquiring an actual braking zone bit and an actual braking range value of a vehicle;
enabling the actual brake zone bit of the vehicle at the alignment moment to be consistent with the test brake zone bit;
comparing whether the actual braking degree value is consistent with the testing braking degree value at the alignment moment or not;
and determining that the actual braking degree value is inconsistent with the testing braking degree value at the alignment moment, and controlling and adjusting the actual braking degree value until the actual braking degree value is consistent with the testing braking degree value at the alignment moment.
Optionally, the step of comparing whether the actual braking degree value is consistent with the test braking degree value at the alignment time includes:
and comparing the actual brake oil pressure corresponding to the alignment moment with the target brake oil pressure to determine whether the actual brake oil pressure is consistent with the target brake oil pressure.
Optionally, the step of determining that the actual braking degree value is inconsistent with the test braking degree value at the alignment time, and controlling to adjust the actual braking degree value until the actual braking degree value is consistent with the test braking degree value at the alignment time includes:
and determining that the actual brake oil pressure is smaller than the target brake oil pressure, controlling the brake master cylinder to perform pressurization operation until the data are consistent, and otherwise, controlling the brake master cylinder to perform pressure maintaining or pressure reducing operation.
Optionally, the step of enabling a following driving process to reproduce the preceding driving process according to the second target correspondence includes:
and controlling the vehicle to perform the accelerator operation based on the tested accelerator opening at the alignment moment, so that the actual speed of the vehicle reaches the corresponding target speed at the alignment moment.
Optionally, controlling the vehicle to perform the accelerator operation based on the tested accelerator opening at the alignment time, so that the actual vehicle speed of the vehicle reaches the corresponding target vehicle speed at the alignment time. The method comprises the following steps:
acquiring a test accelerator opening signal at the alignment moment;
determining to perform the accelerator operation so that the test accelerator opening signal replaces an actual accelerator opening signal;
and controlling the torque of the vehicle according to the opening signal of the tested accelerator.
In a second aspect of the present application, there is provided an automatic driving reproduction system, comprising a processor and a memory, wherein at least one instruction or program is stored in the memory, and the instruction or program is loaded and executed by the processor to implement the automatic driving reproduction method according to the first aspect of the present application.
In a third aspect of the present application, there is provided a computer-readable storage medium having at least one instruction or program stored therein, the instruction or program being loaded and executed by a processor to implement the automatic driving reproduction method according to the first aspect of the present application.
The technical scheme at least comprises the following advantages: by acquiring test driving style data of a previous driving process, the test driving style can reflect a specific driving style, and the driving style is parameterized. The method and the device have the advantages that the previous driving process when the alignment time array is aligned is repeated in the subsequent driving process, so that the subsequent driving process with the same driving style as the previous driving process can be automatically performed, the repetition rate of the test result is improved on the premise that each controller of the vehicle is changed minimally, and the difficulty of related optimization work of vehicle circular driving is effectively reduced.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 illustrates a flow chart of an automated driving recurrence method provided by an embodiment of the present application;
FIG. 2 is a schematic view of a data acquisition process for performing throttle and brake operations when determining a test driving correspondence;
FIG. 3 shows a flowchart of one embodiment of the present application where step S6 reproduces a prior driving procedure;
fig. 4 is a diagram showing a flow of operation for reproducing the vehicle speed control during the preceding driving in accordance with the second target correspondence relationship.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection or electrical connection; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a flowchart illustrating an automated driving recurrence method according to an embodiment of the present application, and referring to fig. 1, the automated driving recurrence method includes steps S1 to S6 performed in sequence:
step S1: and acquiring a first target corresponding relation between the target vehicle speed array and the target time array.
The first target corresponding relation is preset according to the test requirement and is stored in the data file in advance. In the first target corresponding relation, the target vehicle speed array comprises a plurality of target vehicle speeds, the target time array comprises a plurality of driving times, and one driving time corresponds to one target vehicle speed.
In this embodiment, the first target correspondence between the target vehicle speed array and the target time array may be stored in the data file in a list form. The target time array is arranged in a data file, and a sequence list is arranged according to the sequence of each driving time; and the target speed array is arranged in a data file according to the corresponding relation with the target time array.
Table 1 shows the correspondence relationship of partial data in the first target correspondence relationship, and it can be seen from table 1 that the first target correspondence relationship is in the form of a list, the driving times in the target time array T1 are arranged in order from top to bottom in the list, and the target vehicle speed array V (T1) includes target vehicle speeds corresponding to the respective driving times.
TABLE 1
| Target time array T1 | Target vehicle speed array V (t1) |
| 12 | 14 |
| 13 | 12 |
| 14 | 5 |
Step S2: and enabling the vehicle to carry out a previous driving process according to the first target corresponding relation.
When the vehicle is caused to perform the prior driving process according to the first target corresponding relation, the driver can drive in a specific driving style, so that the actual speed of the vehicle reaches the corresponding target speed at each driving moment.
It should be explained that different drivers have different driving styles or that the driving styles of the respective drivers are hardly identical for the same driver. Therefore, even if the actual vehicle speed of the vehicle can be ensured at the time of driving and the corresponding target vehicle speed is reached at the time of driving, different braking operations or accelerator operations can be performed at the same driving time with different driving styles.
Step S3: and acquiring a test driving style signal and a test vehicle speed signal in the prior driving process.
The test driving style signal is used for reflecting the pedal operation state of the vehicle in the prior driving process with a specific driving style, and the pedal operation state is braking operation or accelerator operation.
In the braking operation, a driver is required to press a brake pedal to brake; in the accelerator operation, the driver is required to depress the accelerator pedal to control the output torque.
The test driving style signal in this embodiment therefore includes: testing brake signals and testing throttle signals. The test braking signal comprises a test braking zone bit signal and a test braking degree signal, and the test throttle signal comprises a test throttle opening degree signal.
The test brake flag signal is used for indicating whether brake operation is performed at a corresponding driving moment in the previous driving process. The test brake flag bit signal includes a brake flag and an unbraked flag. The test accelerator opening degree signal is used for quantifying the size of the accelerator opening degree, and the accelerator opening degree is used for controlling the output torque of the vehicle.
In this embodiment, when the test Brake flag signal is a Brake flag, the test Brake flag B _ Brake is 1, and when the test Brake flag signal is an unbraked flag, the test Brake flag B _ Brake is 0.
The braking level signal may be a braking oil pressure signal transmitted from a master cylinder for quantifying the braking level. The brake master cylinder is also called as a hydraulic brake master cylinder, is a power source of a service brake system, is mainly used for converting mechanical force applied to a brake pedal by a driver into brake oil pressure, and sending brake fluid with certain pressure to a brake wheel cylinder of a wheel through a brake pipeline to finally form wheel braking force.
Illustratively, during the previous driving conducted at step S2,
step S4: and sampling the test driving style signal and the test vehicle speed signal based on a specific sampling frequency, and determining a test driving style data array corresponding to the sampling time array and a test driving corresponding relation between the test vehicle speed arrays.
The sampling time array comprises a plurality of sampling times, the test vehicle speed array comprises a plurality of test vehicle speeds, and the test driving style data array comprises a plurality of test driving style data.
The specific sampling frequency may be predetermined according to a sampling theorem in combination with sampling requirements. And after sampling the test driving style signal and the test vehicle speed signal, obtaining test driving style data and test vehicle speed which are in one-to-one correspondence with each sampling moment. The test driving style data array and the test vehicle speed array are both discrete data arrays in time domain.
In this embodiment, the driving test correspondence may be stored in a data file in a form of a list, wherein the sampling time arrays may be arranged in the list according to the order of each sampling time, and the driving test style data array and the driving test speed array may be arranged in the list in a mapping manner according to the correspondence with the sampling time.
Table 2 below shows the correspondence of part of the data in the test driving correspondence. As can be seen from table 2, the test driving correspondence relationship adopts a tabular manner, and includes a sampling time array Tm, a test vehicle speed array v (Tm), and a test driving style data array, where the test driving style data array includes a test accelerator opening degree array AccPed, a test Brake flag bit array B _ Brake, and a test Brake oil pressure array p for indicating a braking degree.
The sampling moments in the sampling moment array Tm are sequentially arranged in the list from top to bottom according to the sequence, the test vehicle speed array V (Tm) comprises test vehicle speeds corresponding to the sampling moments, the test driving style data array comprises test driving style data corresponding to the sampling moments, and the test driving style data corresponding to one sampling moment comprises test accelerator opening, a test brake flag bit and test brake oil pressure used for representing the braking degree.
As can be seen from table 2, during the period from the sampling time 12.0 to the sampling time 12.2, the value of the accelerator opening array AccPed gradually decreases, the value of the test Brake flag array B _ Brake is 0, and the value of the test Brake oil pressure array p is 0, so that the value of the test vehicle speed array v (tm) decreases from 14.34 to 13.89, that is, the process reduces the speed of the vehicle by decreasing the accelerator.
During the period from the sampling time 12.3 to the sampling time 12.9, the values of the accelerator opening array AccPed, the test Brake flag bit array B _ Brake and the test Brake oil pressure array p are all 0, so that the value of the test vehicle speed array V (tm) is reduced from 13.61 to 11.81, namely the vehicle is decelerated through the sliding of the vehicle without accelerator and Brake.
During the period from the sampling time 13.0 to the sampling time 14.1, the numerical value of the accelerator opening array AccPed is 0, the numerical value of the test Brake flag bit array B _ Brake is 1, and the numerical value of the test Brake oil pressure array p is gradually increased, so that the numerical value of the test vehicle speed array V (tm) is reduced to 3.88 from 11.58, namely, the vehicle is decelerated through the Brake operation in the process. In the process of realizing the speed reduction by stepping on the brake, the numerical value of the test brake oil pressure array p of the automobile gradually rises.
TABLE 2
Fig. 2 shows a schematic diagram of the process of finally determining the test driving correspondence relationship through steps S1 to S4. As shown in fig. 2, the driver drives the vehicle in a specific driving style according to the first target correspondence stored in the data file, and performs a preceding driving process. In the prior driving process of the specific driving style, the Brake pedal sends a test Brake zone bit array B _ Brake to the control unit, the Brake master cylinder sends a test Brake oil pressure array p to the control unit, the accelerator pedal sends a test accelerator opening array Accped to the control unit, the control unit sends the received data array to the data acquisition unit, and the data acquisition unit determines the test driving corresponding relation which can be shown in a table 2.
Step S5: and determining an alignment time array between the target time array and the sampling time array, so that the first target corresponding relationship and the test driving corresponding relationship are aligned and integrated correspondingly according to the alignment time array to form a second target corresponding relationship, and storing the second target corresponding relationship in a data file.
In this embodiment, a nearest neighbor method may be used to determine an alignment time array between the target time array T1 in the first target correspondence shown in table 1 and the sampling time array Tm in the test driving correspondence shown in table 2, where the alignment time array includes at least one alignment time, and the alignment time is the closest time in the target time array T1 and the sampling time array Tm. And aligning and integrating the data corresponding to each alignment time to form the corresponding relation shown in table 3.
Table 3 is a second target correspondence table formed by aligning and integrating part of data in the first target correspondence and the test driving correspondence according to a time alignment method, and as can be seen from table 3, the alignment time arrays between the target time array T1 and the sampling time array Tm are time 12.0, time 13.0, and time 14.0, so that the test vehicle speed, the test driving style data, and the target vehicle speed at the alignment time are aligned and integrated to form the second target correspondence.
TABLE 3
Step S6: and carrying out a subsequent driving process according to the second target corresponding relation, so that the subsequent driving process reproduces the previous driving process when the alignment time array is obtained.
The test driving style data and the target vehicle speed when aligning the time arrays are data which need to be reproduced in the later driving process, namely the actual vehicle speed and the actual driving style data are consistent with the corresponding test driving style data and the target vehicle speed at each alignment time according to the time sequence of aligning the time arrays in the later driving process.
In the embodiment, the test driving style data of the prior driving process is acquired, so that the test driving style can reflect the specific driving style, and the driving style is parameterized. And aligning and integrating data in the first target corresponding relation and the test driving corresponding relation by a time aligning method to form a second target corresponding relation, wherein the second target corresponding relation comprises driving style data capable of corresponding to the alignment time array, so that a previous driving process when the alignment time array is aligned is repeated in a later driving process according to the second target corresponding relation, the later driving process with the same driving style as the previous driving process can be automatically carried out, the recurrence rate of a test result is improved on the premise of minimal change of each controller of the vehicle, and the difficulty of related optimization work of vehicle circular driving is effectively reduced.
The vehicle may be caused to begin to repeat a prior driving process by a driver input based on a vehicle-specific signal.
Fig. 3 shows a flowchart of an embodiment of the present application, step S6, for reproducing the previous driving process, and referring to fig. 3, the step S6 includes:
step S61: and determining whether to perform braking operation at each alignment time in the alignment time array based on the second target corresponding relation.
In this embodiment, whether or not the braking operation is performed at the alignment time can be determined based on the test driving style data at the alignment time. That is, if the test braking flag bit of the test driving style data at the time of alignment is the braking flag, that is, B _ Brake is 1, the braking operation is determined. If the test braking flag bit of the test driving style data at the alignment moment is the non-braking flag, that is, B _ Brake is 0, it is determined that the braking operation is not performed.
Referring to fig. 4, there is shown a flowchart for reproducing the vehicle speed control operation during the preceding driving, according to the second target correspondence relationship. The vehicle speed control operation includes a brake operation and a throttle operation. As shown in fig. 4, the control unit obtains the data array corresponding to the alignment time array in the second target corresponding relationship of the data file. The data array, taking table 3 as an example, includes a test driving style data array and a target vehicle speed array corresponding to the alignment time array. The test driving style data array comprises a test accelerator opening degree array Accped, a test Brake zone bit array B _ Brake and a test Brake oil pressure array p.
And the control unit determines whether to perform braking operation at each alignment time of the alignment time array according to the acquired test driving style data array.
For example, the control unit obtains that the accelerator opening at the alignment time 13.0 is 0 and the test Brake flag is the Brake flag B _ Brake ═ 1 in the second target correspondence relationship shown in table 3. The control unit determines that the braking operation is performed at this alignment time 13.0, based on the Brake flag B _ Brake ═ 1.
Step S62: and when the brake operation is carried out at the alignment moment, acquiring a test brake range value corresponding to the alignment moment based on the second target corresponding relation.
The test braking level value may be a brake oil pressure transmitted from a master cylinder, which is used to quantify the braking level. The brake master cylinder is also called as a hydraulic brake master cylinder, is a power source of a service brake system, is mainly used for converting mechanical force applied to a brake pedal by a driver into brake oil pressure, and sending brake fluid with certain pressure to a brake wheel cylinder of a wheel through a brake pipeline to finally form wheel braking force.
Step S63: and controlling the vehicle to perform braking operation based on the test braking range value, so that the actual vehicle speed of the vehicle at the alignment moment reaches the corresponding target vehicle speed.
With continued reference to fig. 4, if the control unit determines that the vehicle is performing a braking operation at an alignment time, the control unit sends a control signal to the hydraulic actuator unit, which enables the hydraulic actuator unit to adjust the actual brake oil pressure to a test oil pressure corresponding to the alignment time.
For example, if the control unit determines that the vehicle is performing a braking operation at the alignment time 13.0 in the second target correspondence relationship shown in table 3, the control unit acquires a test oil pressure (test braking stroke value) at the alignment time 13.0 and sends a control signal to the hydraulic pressure execution unit so that the hydraulic pressure execution unit adjusts the actual brake oil pressure to the test oil pressure.
The control unit shown in fig. 4 can control the hydraulic execution unit and the power control unit according to the test driving style data array and the target vehicle speed array, so that the accelerator operation and the brake operation in the previous driving process can be reproduced in the later driving process. In the braking operation process in the prior driving process through automatic driving and recurrence, the pedal is not really stepped on during automatic braking, but the testing braking zone bit is sent to the control bus through the control unit, so that other controllers of the vehicle can identify the current vehicle state as the braking state.
Wherein the controlling the vehicle to perform the braking operation based on the test braking range value in step S63 may include the steps of:
step S631: and acquiring an actual braking zone bit and an actual braking range value of the vehicle.
Step S632: and enabling the actual brake zone bit of the vehicle at the alignment moment to be consistent with the test brake zone bit.
Continuing to refer to fig. 4, the control unit makes the actual brake flag coincide with the test brake flag at the alignment time in the post-driving process, and outputs the actual brake flag at the alignment time to the control bus, so that the other controllers of the vehicle recognize the current vehicle state as the braking state.
Step S633: and comparing whether the actual braking degree value is consistent with the testing braking degree value at the alignment moment or not.
Step S634: and determining that the actual braking degree value is inconsistent with the testing braking degree value at the alignment moment, and controlling and adjusting the actual braking degree value until the actual braking degree value is consistent with the testing braking degree value at the alignment moment.
Since the braking degree value may be a braking oil pressure, when the actual braking degree value is compared with the test braking degree value at the alignment time and is consistent with the test braking degree value at the alignment time in step S633, the actual braking oil pressure may be compared with a target braking oil pressure corresponding to the alignment time and is consistent with the target braking oil pressure. And step S634 is carried out to determine that the actual braking range value is inconsistent with the testing braking range value at the alignment moment, and the actual braking range value is controlled and adjusted until the actual braking range value is consistent with the testing braking range value, if the actual braking oil pressure is determined to be less than the target braking oil pressure, the master cylinder can be controlled to carry out pressurization operation, otherwise, the master cylinder is controlled to carry out pressure maintaining or pressure reducing operation until the data are consistent.
In step S6, the process of another embodiment, where the step of enabling the following driving process to reproduce the preceding driving process according to the second target correspondence relationship includes: and controlling the vehicle to perform accelerator operation based on the tested accelerator opening at the alignment moment, so that the actual speed of the vehicle reaches the corresponding target speed at the alignment moment.
The method comprises the following steps: controlling the vehicle to perform the throttle operation based on the test throttle opening signal, which may include the following steps performed in sequence:
step S71: and acquiring a test accelerator opening signal at the alignment moment.
Step S72: and sending the test accelerator opening signal to a power execution unit, so that the test accelerator opening signal replaces the actual accelerator opening signal.
Step S73: and the power execution unit performs torque control according to the accelerator opening degree signal, so that the actual speed of the vehicle reaches the corresponding target speed at the alignment moment.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the scope of the invention as expressed herein.
Claims (10)
1. An automatic driving reproduction method characterized by comprising the steps of:
acquiring a first target corresponding relation between a target vehicle speed array and a target time array;
enabling the vehicle to carry out a previous driving process according to the first target corresponding relation;
acquiring a test driving style signal and a test vehicle speed signal in the prior driving process; the test driving style signal is used for reflecting the pedal operation state of the vehicle in the prior driving process with a specific driving style;
based on a specific sampling frequency, sampling the test driving style signal and the test vehicle speed signal, and determining a test driving style data array corresponding to the sampling time array and a test driving corresponding relation between the test driving style data array and the test vehicle speed array;
determining an alignment time array between the target time array and the sampling time array, so that the first target corresponding relation and the test driving corresponding relation are correspondingly aligned and integrated according to the alignment time array to form a second target corresponding relation;
and carrying out a subsequent driving process according to the second target corresponding relation, so that the subsequent driving process reproduces the previous driving process when the alignment time array is obtained.
2. The automatic driving recurrence method of claim 1, wherein the pedal operation state includes a brake operation and a throttle operation.
3. The automatic driving reproduction method according to claim 2, wherein the step of causing a subsequent driving process to reproduce the previous driving process in accordance with the second target correspondence relationship includes:
determining whether to perform braking operation at the alignment time in the alignment time array based on the second target corresponding relation;
determining to perform braking operation, and acquiring a test braking degree value corresponding to the alignment moment based on the second target corresponding relation;
and controlling the vehicle to perform braking operation based on the test braking range value, so that the actual vehicle speed of the vehicle at the alignment moment reaches the corresponding target vehicle speed.
4. The automated driving replication method of claim 3, wherein the step of controlling the vehicle to perform a braking operation based on the test braking travel value such that an actual vehicle speed of the vehicle at the alignment time reaches a corresponding target vehicle speed includes:
acquiring an actual braking zone bit and an actual braking range value of a vehicle;
enabling the actual brake zone bit of the vehicle at the alignment moment to be consistent with the test brake zone bit;
comparing whether the actual braking degree value is consistent with the testing braking degree value at the alignment moment or not;
and determining that the actual braking degree value is inconsistent with the testing braking degree value at the alignment moment, and controlling and adjusting the actual braking degree value until the actual braking degree value is consistent with the testing braking degree value at the alignment moment.
5. The automated driving replication method of claim 4, wherein the step of comparing the actual braking extent value to the test braking extent value at the time of alignment for consistency comprises:
and comparing the actual brake oil pressure corresponding to the alignment moment with the target brake oil pressure to determine whether the actual brake oil pressure is consistent with the target brake oil pressure.
6. The automated driving replication method of claim 4, wherein the step of determining that the actual braking extent value is inconsistent with the test braking extent value at the time of alignment and controlling the adjustment of the actual braking extent value until the actual braking extent value is consistent comprises:
and determining that the actual brake oil pressure is smaller than the target brake oil pressure, controlling the brake master cylinder to perform pressurization operation until the data are consistent, and otherwise, controlling the brake master cylinder to perform pressure maintaining or pressure reducing operation.
7. The automatic driving reproduction method according to claim 2, wherein the step of causing a subsequent driving process to reproduce the previous driving process in accordance with the second target correspondence relationship includes:
and controlling the vehicle to perform the accelerator operation based on the tested accelerator opening at the alignment moment, so that the actual speed of the vehicle reaches the corresponding target speed at the alignment moment.
8. The automatic driving reproduction method according to claim 7, wherein the step of controlling the vehicle to perform the throttle operation based on the test throttle opening degree at the aligned time so that the actual vehicle speed of the vehicle reaches the corresponding target vehicle speed at the aligned time comprises:
acquiring a test accelerator opening signal at the alignment moment;
determining to perform the accelerator operation so that the test accelerator opening signal replaces an actual accelerator opening signal;
and controlling the torque of the vehicle according to the opening signal of the tested accelerator, so that the actual speed of the vehicle reaches the corresponding target speed at the alignment moment.
9. An autonomous driving reproduction system comprising a processor and a memory, the memory having stored therein at least one instruction or program which is loaded and executed by the processor to implement the autonomous driving reproduction method as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, in which at least one instruction or program is stored, which is loaded and executed by a processor to implement the autopilot recurrence method of any one of claims 1 to 8.
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| CN202110533127.XA CN113188814A (en) | 2021-05-17 | 2021-05-17 | Automatic driving reproduction method, system and storage medium |
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