CN115140038A - Longitudinal control method of vehicle, computer device, storage medium and vehicle - Google Patents

Longitudinal control method of vehicle, computer device, storage medium and vehicle Download PDF

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Publication number
CN115140038A
CN115140038A CN202210708989.6A CN202210708989A CN115140038A CN 115140038 A CN115140038 A CN 115140038A CN 202210708989 A CN202210708989 A CN 202210708989A CN 115140038 A CN115140038 A CN 115140038A
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vehicle
longitudinal
tracking error
cur
error
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施雅风
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Anhui Weilai Zhijia Technology Co Ltd
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Anhui Weilai Zhijia Technology Co Ltd
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Priority to CN202210708989.6A priority Critical patent/CN115140038A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • 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
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of automatic driving, in particular to a longitudinal control method of a vehicle, computer equipment, a storage medium and the vehicle, and aims to solve the problem of how to improve the driving comfort and safety of the vehicle simultaneously during longitudinal control. The method comprises the steps of obtaining a longitudinal motion parameter p to be tracked of a vehicle in a current control period 1 Tracking error e of cur (ii) a For tracking error e cur Comparing the current control cycle with a preset error limit value to determine an initial longitudinal control mode for longitudinally controlling the vehicle in the current control cycle; if e cur >e th2 According to the tracking error e cur Longitudinally controlling the vehicle; if e th1 ≤e cur ≤e th2 Then, the initial longitudinal control mode of the previous control cycle is adopted; if e cur <e th1 Then the tracking error e cur Correction to zero, based on the corrected tracking error e cur Longitudinally controlling the vehicle; e.g. of a cylinder th1 And e th2 Respectively, a lower limit value and an upper limit value of a preset error limit value. By the mode, the vehicle can have high safety and comfort when the vehicle is longitudinally controlled.

Description

Longitudinal control method of vehicle, computer device, storage medium and vehicle
Technical Field
The invention relates to the technical field of automatic driving, and particularly provides a longitudinal control method of a vehicle, computer equipment, a storage medium and the vehicle.
Background
When a vehicle is longitudinally controlled by an Advanced Driving Assistance System (ADAS), a position deviation between an actual position and a target position of the vehicle and/or a speed deviation between an actual speed and a target speed of the vehicle may fluctuate greatly due to the influence of factors such as vehicle positioning signal noise and/or vehicle sensor noise during the Driving of the vehicle, and if the position deviation and/or the speed deviation are still used for longitudinally controlling the vehicle under the condition of large deviation fluctuation, the Driving comfort or stability of the vehicle is remarkably reduced, so that the riding experience of a user is reduced.
In order to suppress the deviation disturbance caused by the noise and other factors, the position deviation and the speed deviation may be low-pass filtered, and then the vehicle may be controlled longitudinally according to the filtered position deviation and/or speed deviation. However, due to the problem of filtering delay of the low-pass filtering, a certain delay exists between the filtered deviation and the deviation before filtering, and if the filtered deviation is used for longitudinal control, the driving safety risk of the vehicle is increased, for example, if the filtered deviation is used for control when emergency braking is needed, the vehicle braking may not be completed in time, so that a vehicle safety accident occurs.
Accordingly, there is a need in the art for a new solution to the above problems.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks, the present invention has been made to provide a longitudinal control method of a vehicle, a computer apparatus, a storage medium, and a vehicle that solve or at least partially solve the technical problem of how to simultaneously improve the comfort and safety of vehicle travel when the vehicle is longitudinally controlled.
In a first aspect, the present invention provides a longitudinal control method of a vehicle, the method comprising:
acquiring a longitudinal motion parameter p to be tracked of a vehicle in a current control period 1 Tracking error e of cur ；
For the tracking error e cur Comparing with a preset error limit value to determine an initial longitudinal control mode for longitudinally controlling the vehicle in the current control period, specifically comprising:
if e cur ＞e th2 Then the initial longitudinal control mode is based on the tracking error e cur Longitudinal control of the vehicle, said e th2 Is the upper limit value of the preset error limit value;
if e th1 ≤e cur ≤e th2 If the initial longitudinal control mode is the initial longitudinal control mode of the previous control cycle, e th1 Is the lower limit of the preset error limit;
if e cur ＜e th1 Then the initial longitudinal control mode is to use the tracking error e cur Correction to zero, based on the corrected tracking error e cur And performing longitudinal control on the vehicle.
In one embodiment of the longitudinal control method for a vehicle, if e cur ＜e th1 Then the initial longitudinal control mode is to use the tracking error e cur Correction to zero, based on the corrected tracking error e cur The step of performing longitudinal control on the vehicle specifically includes:
judging the longitudinal motion parameter p to be tracked of the vehicle in a plurality of continuous control periods before the current control period 1 Whether the tracking errors are all smaller than a lower limit value e of a preset error limit value th1 ；
If yes, the initial longitudinal control mode is to use the tracking error e cur Correction to zero, based on the corrected tracking error e cur Longitudinally controlling the vehicle;
if not, the initial longitudinal control mode is according to the tracking errore cur Performing longitudinal control on the vehicle;
and/or "in dependence on said tracking error e cur Before longitudinal control of the vehicle ", the method further comprises the step of determining the tracking error e cur Low pass filtering is performed.
In one aspect of the longitudinal control method of the vehicle, the method further includes correcting an initial longitudinal control manner of the current control cycle when the current control cycle is not in the error transition control by:
judging whether the current control period meets an entry condition of error transition control, wherein the entry condition is that the initial longitudinal control mode of the current control period is different from that of the previous control period;
if so, starting a new round of error transition control and correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode, wherein the transition longitudinal control mode is based on the longitudinal motion parameter p to be tracked of the vehicle in the previous control period 1 Tracking error e of pre Tracking error e of current control period relative to preset error change slope cur Making a correction to reduce said tracking error e cur And the tracking error e pre And then the vehicle is longitudinally controlled according to the corrected tracking error;
if not, not starting a new round of error transition control and not correcting the initial longitudinal control mode of the current control period;
or, the method further comprises the following steps of correcting the initial longitudinal control mode of the current control period when the current control period is in the error transition control:
judging whether the current control period meets an entry condition and an exit condition of error transition control, wherein the exit condition is that the tracking error of at least one control period before the current control period meets a preset constraint condition;
if the entry condition and the exit condition are met, the initial longitudinal control mode of the current control period is not corrected, and the error transition control of the current round is finished;
if the entering condition is met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode;
if the entry condition is not met and the exit condition is met, the initial longitudinal control mode of the current control period is not corrected and the error transition control of the current round is finished;
and if the entering condition is not met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control cycle into the longitudinal control mode actually adopted by the previous control cycle, wherein the actually adopted longitudinal control mode is the initial longitudinal control mode or the transition longitudinal control mode.
In one embodiment of the longitudinal control method for a vehicle, the longitudinal motion parameter p to be tracked is determined according to the vehicle's longitudinal motion parameter p to be tracked in the previous control cycle 1 Tracking error e of pre Tracking error e of current control period relative to preset error change slope cur Making a correction to reduce said tracking error e cur And the tracking error e pre The step of "comprises:
according to the tracking error e pre And the tracking error e of the current control period is calculated according to the following formula cur And (3) correcting:
e final ＝e pre +min(limited rate ×ts，max(-1×limited rate ×ts，e cur -e pre ))
wherein e is final Indicating the tracking error e for the current control period cur Corrected tracking error, limited rate The method comprises the steps of representing a preset error change slope, ts representing sampling time, min representing a minimum function, and max representing a maximum function;
and/or the preset constraint conditions in the exit conditions at least comprise:
tracking error e corresponding to the previous control period of the current control period final And a tracking error e cur Is less than a predetermined deviation absolute valueA deviation threshold value of, and
tracking error e corresponding to the second control period before the current control period final And a tracking error e cur Is greater than or equal to a preset deviation threshold value.
In one aspect of the above longitudinal control method of a vehicle, the method further includes determining the preset error change slope by:
determining the longitudinal motion parameter p to be tracked and assigned by an upstream system when the vehicle is longitudinally controlled 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 Wherein the longitudinal motion parameter p to be tracked 1 Is the longitudinal movement parameter p of the object at the vehicle position 2 Is the vehicle speed, the longitudinal movement parameter p to be tracked 1 Is the target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration;
according to the longitudinal motion parameter p of the target in the current control period 2 Actual value p of 2_a With a target value p 2_t And calculating an initial error change slope limited by the following formula rate_ini Wherein g represents a preset gain:
limited rate_ini ＝(p 2_a -p 2_t )×g
the initial error change slope limited rate_ini And the larger one of the preset error change slope fixed values is used as the final error change slope.
In one aspect of the above-described longitudinal control method of a vehicle, the method further includes determining the lower limit e of the preset error limit value, respectively, in the following manner th1 And an upper limit value e th2 ：
Determining the longitudinal motion parameter p to be tracked and assigned by an upstream system when the vehicle is longitudinally controlled 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 Wherein the longitudinal motion parameter p to be tracked 1 Is the longitudinal movement parameter p of the object at the vehicle position 2 Is the vehicle speed, the said to be trackedLongitudinal motion parameter p 1 Is the target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration;
calculating the longitudinal motion parameter p of the target in the current control period 2 Actual value of (p) 2_a The product of the sampling time and the sampling time, and selecting the larger one of the product and a preset minimum limit value as a characteristic distance;
comparing the characteristic distance with a preset lower limit coefficient c 1 As the lower limit value e th1 And comparing the characteristic distance with a preset upper limit coefficient c 2 As the upper limit value e th2 Wherein, 0 < c 1 ＜1＜c 2 。
In one aspect of the above-described longitudinal control method of a vehicle, the method further includes determining the preset minimum limit value by:
when the target longitudinal motion parameter p 2 When the vehicle speed is higher than the preset vehicle speed, the preset longitudinal motion parameter p to be tracked when the vehicle stops 1 As the preset minimum threshold value;
when the target longitudinal motion parameter p 2 When the vehicle acceleration is the vehicle acceleration, the preset longitudinal motion parameter p to be tracked during constant-speed cruising of the vehicle is obtained 1 As the preset minimum threshold value.
In a second aspect, a computer arrangement is provided, comprising a processor and a storage device adapted to store a plurality of program codes adapted to be loaded and run by the processor to perform a longitudinal control method of a vehicle as set forth in any of the above-mentioned technical aspects of a longitudinal control method of a vehicle.
In a third aspect, there is provided a computer readable storage medium having stored therein a plurality of program codes adapted to be loaded and run by a processor to execute the longitudinal control method of a vehicle according to any one of the above-described technical aspects of the longitudinal control method of a vehicle.
In a fourth aspect, a vehicle is provided, comprising a computer device according to the above-mentioned technical solution of a computer device.
One or more technical schemes of the invention at least have one or more of the following beneficial effects:
in the technical scheme of the invention, the longitudinal control method of the vehicle can acquire the longitudinal motion parameter p to be tracked of the vehicle in the current control period 1 Tracking error e of cur (ii) a For tracking error e cur Comparing with a preset error limit value to determine an initial longitudinal control mode for longitudinally controlling the vehicle in the current control period, specifically comprising: if e cur ＞e th2 Then the initial longitudinal control mode is based on the tracking error e cur Longitudinally controlling the vehicle; if e th1 ≤e cur ≤e th2 If the initial longitudinal control mode is the initial longitudinal control mode of the previous control cycle; if e cur ＜e th1 Then the initial longitudinal control mode is to control the tracking error e cur Corrected to zero, based on the corrected tracking error e cur Performing longitudinal control on the vehicle; e.g. of the type th1 And e th2 Respectively, a lower limit value and an upper limit value of a preset error limit value.
By the above embodiment, the longitudinal motion parameter p to be tracked can be obtained 1 Tracking error e of cur In the larger case (e) cur ＞e th2 ) In time according to the tracking error e cur The vehicle is longitudinally controlled, so that the running safety of the vehicle is improved; in the longitudinal motion p to be tracked 1 Tracking error e of c In the smaller case (e) cur ＜e th1 ) By applying a tracking error e cur Corrected to zero and no longer treated to track the longitudinal motion parameter p 1 Tracking is carried out, so that the driving comfort of the vehicle is improved; in the longitudinal motion parameter p to be tracked 1 Tracking error e of cur At e th1 And e th2 And meanwhile, a longitudinal control mode of the previous control cycle is continuously adopted to ensure that the vehicle runs and has higher safety and comfort.
Further, in some technical solutions for implementing the present invention, the tracking error e of the current control period may also be used cur Performing transient control to prevent the longitudinal motion parameter p to be tracked of the vehicle in the previous control period 1 Tracking error e of pre Tracking error e from the current control period cur Too large a gap therebetween, resulting in a tracking error e according to the current control period cur The problem of influencing the comfort of the vehicle during longitudinal control occurs.
Specifically, when the current control period is in error transition control, whether the current control period meets the entry condition and the exit condition of the error transition control is judged; if the entry condition and the exit condition are met, the initial longitudinal control mode of the current control period is not corrected, and the error transition control of the current round is finished; if the entering condition is met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode; if the entry condition is not met and the exit condition is met, the initial longitudinal control mode of the current control period is not corrected and the error transition control of the current round is finished; and if the entering condition is not met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control cycle into the longitudinal control mode actually adopted by the previous control cycle, wherein the actually adopted longitudinal control mode is the initial longitudinal control mode or the transition longitudinal control mode. Judging whether the current control period meets the entry condition of error transition control or not when the current control period is not in the error transition control; if so, starting a new round of error transition control and correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode; if not, the initial longitudinal control mode of the current control period is not corrected.
The transition longitudinal control mode is based on the tracking error e of the previous control period pre Tracking error e of current control period relative to preset error change slope cur Making corrections to reduce the tracking error e cur And a tracking error e pre And then on the basis of the corrected tracking error e cur And performing longitudinal control on the vehicle.
Drawings
The disclosure of the present invention will become more readily understood with reference to the accompanying drawings. As is readily understood by those skilled in the art: these drawings are for illustrative purposes only and are not intended to be a limitation on the scope of the present disclosure. Wherein:
FIG. 1 is a schematic control scheme for longitudinal control of a vehicle;
FIG. 2 is a flow chart illustrating the main steps of a longitudinal control method of a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the variation of a longitudinal motion parameter to be tracked according to one embodiment of the present invention;
FIG. 4 is a flow chart illustrating the main steps of a method for obtaining a predetermined error limit according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a position tracking error before low pass filtering in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of position tracking error after low pass filtering in accordance with an embodiment of the present invention;
FIG. 7 is a schematic of velocity tracking error before low pass filtering according to one embodiment of the present invention;
FIG. 8 is a schematic of velocity tracking error after low pass filtering in accordance with one embodiment of the present invention;
FIG. 9 is a graph of tracking error e according to one embodiment of the present invention cur Correction to zero, based on the corrected tracking error e cur The main steps of the method for controlling the longitudinal direction of the vehicle are shown in the flow chart.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "processor" may include hardware, software, or a combination of both. The processor may be a central processing unit, microprocessor, digital signal processor, or any other suitable processor. The processor has data and/or signal processing functionality. The processor may be implemented in software, hardware, or a combination thereof. The computer readable storage medium includes any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random-access memory, and the like. The term "a and/or B" denotes all possible combinations of a and B, such as a alone, B alone or a and B.
Some terms to which the present invention relates are explained first.
The longitudinal control of the vehicle mainly controls the speed of the vehicle, and longitudinal motion parameters in the longitudinal control at least comprise the position of the vehicle and the speed of the vehicle. As shown in fig. 1, in the longitudinal control process, the position error of the vehicle position is input to the controller 1 to obtain a compensation value of the target vehicle speed, the vehicle speed error can be obtained by subtracting the actual vehicle speed from the sum of the target vehicle speed and the compensation value thereof, the vehicle speed error is input to the controller 2 to obtain a compensation value of the target acceleration, the sum of the target acceleration and the compensation value thereof is used as the compensated target acceleration, the compensated target acceleration is input to the controller 3 to obtain the longitudinal torque of the motor, and the motor is subjected to torque control according to the longitudinal torque, so that the actual vehicle speed of the vehicle is continuously close to the target vehicle speed until the target vehicle speed is reached.
A longitudinal control method of a vehicle according to an embodiment of the present invention will be explained below.
Referring to fig. 2, fig. 2 is a flow chart illustrating main steps of a longitudinal control method of a vehicle according to an embodiment of the present invention. As shown in fig. 2, the longitudinal control method of the vehicle in the embodiment of the present invention mainly includes the following steps S101 to S103.
Step S101: acquiring a longitudinal motion parameter p to be tracked of a vehicle in a current control period 1 Tracking error e of cur 。
Longitudinal motion parameter p to be tracked in the embodiment of the invention 1 May be parameters such as vehicle position and/or vehicle speed. Tracking error e cur Refers to the longitudinal motion parameter p to be tracked 1 Is measured in the mean value of the deviation between the target value and the actual value.
Step S102: for tracking error e cur And comparing the control signal with a preset error limit value to determine an initial longitudinal control mode for longitudinally controlling the vehicle in the current control period.
The predetermined error limit includes an upper limit e th2 And a lower limit value e th1 ，e th1 ＜e th2 . If e cur ＞e th2 Go to step S103; if e th1 ≤e cur ≤e th2 Then go to step S104; if e cur ＜e th1 Then, go to step S105.
Note that, due to the tracking error e cur May be negative or positive, and for the convenience of comparing values, the tracking error e is measured in the embodiment of the present invention cur Is compared to a preset error limit, wherein the preset error limit is a number greater than zero.
Step S103: the initial longitudinal control mode is based on the tracking error e cur And performing longitudinal control on the vehicle.
Tracking error e of current control period cur Upper limit e greater than preset error limit th2 Indicates the longitudinal motion parameter p to be tracked in the current control period 1 The difference between the actual value and the target value is large, which greatly affects the driving safety of the vehicle, so that the tracking error e according to the current control period is needed cur The vehicle is longitudinally controlled to improve the running safety of the vehicle.
Step S104: the initial longitudinal control mode is the initial longitudinal control mode of the previous control cycle.
Tracking error e of current control period cur Upper limit e at preset error limit th2 With a lower limit value e th1 In between, the longitudinal motion parameter p to be tracked in the current control period is indicated 1 The difference between the actual value and the target value is not large, and in order to improve the driving comfort of the vehicle, the initial longitudinal control method of the previous control cycle is still adopted to carry out longitudinal control on the vehicle.
Step S105: the initial longitudinal control mode is to control the tracking error e cur And correcting to zero, and longitudinally controlling the vehicle according to the corrected tracking error.
Tracking error e of current control period cur Lower limit e less than preset error limit th1 Indicating the longitudinal movement parameter p to be tracked in the current control cycle 1 The difference between the actual value and the target value is smaller, and the longitudinal motion parameter p to be tracked 1 The actual value is already very close to its target value, and the longitudinal movement parameter p is no longer to be tracked in order to increase the driving comfort of the vehicle 1 Performing tracking, i.e. without reference to the longitudinal movement parameter p to be tracked 1 The tracking error of (2) controls the vehicle longitudinally. Therefore, the tracking error e can be first detected cur Corrected to zero and then based on the corrected tracking error e cur And performing longitudinal control on the vehicle.
By the method described in the above steps S101 to S103, the vehicle can be provided with high safety and comfort at the same time when the vehicle is controlled longitudinally.
The following further describes the above steps S101, S102, S103 and S105.
In some embodiments of the above step S101, the longitudinal motion parameter p to be tracked at any time is acquired accurately 1 So that in each control cycle it is possible to follow the longitudinal movement parameter p to be tracked 1 The initial longitudinal control mode can be accurately determined by the tracking error in the following steps S1011 to S1013, and the longitudinal motion parameter p to be tracked can be determined 1 Tracking error at any time.
Step S1011: and acquiring a planned driving track of the vehicle in the automatic driving process. The planned driving track consists of a plurality of target points which are arranged in sequence from first to last according to time, wherein the target points at least comprise target values of parameters such as time information, vehicle position, vehicle speed, vehicle acceleration, course angle and the like, namely the target points comprise longitudinal motion parameters p to be tracked 1 The target value of (2).
Step S1012: performing Linear Interpolation (Linear Interpolation) on the planned driving track according to the current moment to obtain target values of parameters such as the vehicle position, the vehicle speed, the vehicle acceleration, the course angle and the like at the current moment, namely acquiring the longitudinal motion parameter p to be tracked at the current moment 1 The target value of (2). As shown in fig. 3, assuming that a planned driving trajectory includes six target points arranged in order from time to time, the time information included in the six target points is t0 to t5 in sequence, and the current time is between t2 and t3, the target values of the parameters such as the vehicle position, the vehicle speed, the vehicle acceleration, and the heading angle at the current time can be obtained through interpolation calculation.
Step S1013: according to the longitudinal motion parameter p to be tracked at the current moment 1 The actual value and the target value of the current time point are calculated to obtain the longitudinal motion parameter p to be tracked at the current time point 1 The tracking error of (2).
In particular, a longitudinal motion parameter p to be tracked may be calculated 1 And a difference between the actual value and the target value, and determining a tracking error based on the difference. For example, the difference may be directly used as a tracking error. Further, in some embodiments, if the longitudinal motion parameter p is to be tracked 1 Is the position of the vehicle and can be determined according to the longitudinal motion parameter p to be tracked 1 And the tracking error e1 is calculated by the following formula (1). If the longitudinal motion parameter p to be tracked 1 Is the vehicle speed and can be determined according to the longitudinal motion parameter p to be tracked 1 And the tracking error e2 is calculated by the following formula (2).
e1＝(X ref -X cur )×cosθ ref +(Y ref -Y cur )×sinθ ref (1)
The meaning of each parameter in the formula (1) is as follows: x ref And Y ref Respectively represent the X-axis Coordinate and the Y-axis Coordinate of the vehicle position target value in a Geodetic Coordinate System (Geodetic Coordinate System), X cur And Y cur Respectively representing the X-axis coordinate and the Y-axis coordinate, theta, of the actual value of the vehicle position in the geodetic coordinate system ref A target value representing a heading angle.
e1＝V ref +V fb -V cur (2)
The meaning of each parameter in the formula (2) is as follows: v ref Target value, V, representing vehicle speed fb A compensation value indicating a target vehicle speed compensation amount determined based on the vehicle position error at the time of longitudinal control of the vehicle, that is, the target vehicle speed shown in fig. 1. V cur An actual value representing the vehicle speed. In some preferred embodiments, the speed of the vehicle's center of mass may be selected as the actual value V of the vehicle's speed cur 。
Through the method from the step S1011 to the step S1013, the longitudinal motion parameter p to be tracked at any moment can be accurately obtained 1 The tracking error of (2).
The above is the description of step S101, and step S102 is further described below.
As shown in fig. 4, in some embodiments of the above step S102, in order to accurately determine the initial longitudinal control mode of the current control period, the upper limit e of the preset error limit may be determined through the following steps S1021 to S1023 th2 And a lower limit value e th1 。
Step S1021: determining a longitudinal movement parameter p assigned by an upstream system and to be tracked during longitudinal control of a vehicle 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 . In particular, the longitudinal movement parameter p to be tracked 1 Is a target longitudinal motion parameter p at the vehicle position 2 Is the vehicle speed, the longitudinal motion parameter p to be tracked 1 Is a target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration.
The upstream system refers to a higher-level control system that is capable of communicating with and sending control instructions to a control system for executing the longitudinal control method of the vehicle according to the embodiment of the invention.
Step S1022: calculating the longitudinal motion parameter p of the target in the current control period 2 Actual value of (p) 2_a And the product of the sampling time, and selecting the larger one of the product and the preset minimum limit value as the characteristic distance.
The sampling time refers to the actual value p 2_a The sampling time at which the sampling is performed.
The preset minimum threshold value is used for judging the longitudinal motion parameter p to be tracked 1 A tracking error tolerance value of whether tracking is completed. If the longitudinal motion parameter p to be tracked 1 Less than the tracking error tolerance value, the longitudinal motion parameter p to be tracked is judged to be completed 1 Otherwise, judging that the longitudinal motion parameter p to be tracked is not completed 1 The tracking of (2).
In some embodiments, the parameter p can be based on the longitudinal motion of the target 2 To determine a preset minimum threshold value, i.e. a longitudinal motion parameter p of an object of different type 2 Corresponding to different tracking error tolerance values (preset minimum limit values). In particular, when the target longitudinal motion parameter p 2 When the vehicle speed is higher than the preset vehicle speed, the preset longitudinal motion parameter p to be tracked when the vehicle stops 1 As a preset minimum limit value, for example, the preset minimum limit value may be 0.4 meters. When the longitudinal motion parameter p of the target 2 When the vehicle acceleration is detected, the preset longitudinal motion parameter p to be tracked during constant-speed cruise of the vehicle 1 As a preset minimum limit value, for example, the preset minimum limit value may be 0.25 m/s.
Step S1023: the characteristic distance is compared with a preset lower limit coefficient c 1 Is taken as the lower limit value e th1 The characteristic distance is compared with a preset upper limit coefficient c 2 The product of (a) is taken as an upper limit value e th2 Wherein, 0 < c 1 ＜1＜c 2 . The person skilled in the art can flexibly set the preset lower limit coefficient c according to the actual requirement 1 And an upper limit coefficient c 2 As long as the specific values of (1) and (b) are ensured to satisfy 0 < c 1 ＜1＜c 2 The conditions of (1) may be as follows. In some preferred embodiments, c 1 ＝0.5，c 2 ＝1.5。
The above is the description of step S102, and step S103 is further described below.
Due to the effects of vehicle locating signal noise and/or vehicle sensor noise,may result in a longitudinal motion parameter p to be tracked 1 The tracking error of (2) has large fluctuation, and if the tracking error is still utilized to carry out longitudinal control on the vehicle under the condition of large deviation fluctuation, the driving comfort of the vehicle is reduced. In some embodiments of step S103, the tracking error e may be corrected first cur Low-pass filtering, and tracking error e cur And performing longitudinal control on the vehicle. It should be noted that, in the present embodiment, the tracking error e can be corrected by a conventional low-pass filtering method in the signal filtering technology field cur And (6) filtering. In some preferred embodiments, a first order low pass filter with a cut-off frequency of 2Hz may be used to correct the tracking error e cur And (6) filtering.
Referring to fig. 5 and 6, fig. 5 illustrates a position tracking error before low-pass filtering the vehicle position tracking error, and fig. 6 illustrates a position tracking error after low-pass filtering the vehicle position tracking error, wherein the abscissa units of fig. 5 and 6 are each seconds and the ordinate units are each meters. As shown in fig. 5, the frequency of the position tracking error before low pass filtering is high around 13Hz and the amplitude fluctuates around 0.30 meters. As shown in fig. 6, the frequency of the position tracking error after low pass filtering is low around 2 Hz.
Referring to fig. 7 and 8, fig. 7 illustrates a velocity tracking error before low-pass filtering the vehicle velocity tracking error, and fig. 8 illustrates a velocity tracking error after low-pass filtering the vehicle velocity tracking error, wherein the abscissa units of fig. 7 and 8 are each seconds and the ordinate units are each meters/second. As shown in fig. 7, the velocity tracking error before low pass filtering has a high frequency and a fluctuating amplitude around 0.09 m/sec. As shown in fig. 8, the frequency of the velocity tracking error after low pass filtering is low around 2 Hz.
The above is the description of step S103, and step S105 is further described below.
In step S105, due to the tracking error e cur Lower limit e less than preset error limit th1 Indicating the longitudinal movement parameter p to be tracked 1 The actual value is already very close to its target value, and the longitudinal motion parameter p to be tracked is no longer to be considered in order to increase the comfort of the vehicle in driving 1 And tracking. However, as can be seen from the above description of step S103, the longitudinal motion parameter p to be tracked 1 May have large fluctuation, and the tracking error of the previous control period may be larger than the upper limit e of the preset error limit th2 The tracking error of the current control period jumps to a lower limit e less than a preset error limit th1 The tracking error is still larger than the upper limit e of the preset error limit value in the next control period th2 Also, the longitudinal motion parameter p to be tracked needs to be treated 1 And tracking. If the tracking error e of the current control period is judged cur Lower limit e less than preset error limit th1 The longitudinal motion parameter p to be tracked is immediately disregarded 1 Tracking may cause the vehicle to deviate from the planned driving trajectory, and even cause safety accidents in the case of high vehicle speed. In this regard, as shown in fig. 9, in order to reduce the disturbance of the tracking error fluctuation, in some embodiments of the above-described step S105, the tracking error e according to the current control period cur Determining an initial longitudinal control mode as a tracking error e cur Corrected to zero, based on the corrected tracking error e cur After the longitudinal control of the vehicle, the determined initial longitudinal control method may be corrected through the following steps S1051 to S1053.
Step S1051: judging the longitudinal motion parameter p to be tracked of the vehicle in a plurality of continuous control periods before the current control period 1 Whether the tracking errors are all smaller than a lower limit value e of a preset error limit value th1 (ii) a If yes, go to step S1052; if not, go to step S1053.
The number of the continuous control cycles can be flexibly set by a person skilled in the art according to actual requirements, and in some preferred embodiments, if the duration of the control cycle is 1 second, the number of the continuous control cycles can be 4. That is, if the longitudinal movement is to be tracked within 5 consecutive secondsDynamic parameter p 1 Are all less than the lower limit e th1 Go to step S1052; if the longitudinal motion parameter p to be tracked in 5 seconds is continuously 1 Is not all less than the lower limit e th1 Go to step S1053.
Step S1052: the initial longitudinal control mode is to control the tracking error e cur Correction to zero, based on the corrected tracking error e cur And performing longitudinal control on the vehicle.
If the longitudinal motion parameter p to be tracked of the vehicle in a plurality of consecutive control periods before the current control period 1 Are all less than the lower limit value e th1 Indicating the longitudinal movement parameter p to be tracked 1 Has been in a steady state, the tracking error e can be taken into account cur Corrected to zero, no longer treating the longitudinal motion parameter p to be tracked 1 And (6) tracking.
Step S1053: if the longitudinal motion parameter p to be tracked of the vehicle in a plurality of consecutive control periods before the current control period 1 Is not all less than the lower limit e th1 Indicating a parameter p of longitudinal movement to be tracked 1 Is still in a large fluctuation state, and the tracking error e cannot be corrected cur Correction to zero, according to the tracking error e cur Continuing to control the vehicle longitudinally, i.e. initially controlling longitudinally in a manner dependent on the tracking error e cur And performing longitudinal control on the vehicle.
Through the method described in the above steps S1051 to S1053, the accuracy and reliability of the vertical control method can be improved.
The above is a further description of step S101, step S102, step S103 and step S105 in the above method embodiment.
In the longitudinal control method of a vehicle according to another embodiment of the present invention, in order to improve the comfort of the vehicle running, the tracking error e of the current control period may be determined by the following steps S201 to S209 cur Performing transient control to prevent the longitudinal motion parameter p to be tracked of the vehicle in the previous control period 1 Tracking error e of pre And whenTracking error e of pre-control period cur The difference is too large, so that the tracking error e according to the current control period is obtained after the previous control period enters the current control period cur The longitudinal control has a problem that the comfort of the vehicle during traveling is affected.
Step S201: judging whether the current control period is in error transition control or not; if not, executing the step S202 to the step S204 to judge whether to start the error transition control or not and whether to correct the initial longitudinal control mode of the current control period or not; if so, step S205 to step S209 are executed to execute the specific control steps of the error transition control.
The error transition control refers to the longitudinal motion parameter p to be tracked of the vehicle in the last control period 1 Tracking error e of pre Tracking error e from the current control period cur Too large difference between the two signals and tracking error e of current control period cur A control process for performing transition control.
Step S202: judging whether the current control period meets the entry condition of error transition control or not; if yes, go to step S203; if not, go to step S204.
The entry condition is that the initial longitudinal control mode of the current control period is different from the initial longitudinal control mode of the previous control period, if the initial longitudinal control mode is different from the previous control period, the entry condition is met, otherwise, the entry condition is not met.
Step S203: and starting a new round of error transition control and correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode.
Step S204: and a new round of error transition control is not started, and the initial longitudinal control mode of the current control period is not corrected.
Step S205: and judging whether the current control period respectively meets the entry condition and the exit condition of the error transition control.
The exit condition is that the tracking error of at least one control period before the current control period meets a preset constraint condition, if the tracking error meets the constraint condition, the exit condition is judged to be met, and if the tracking error does not meet the constraint condition, the exit condition is judged not to be met.
Step S206: and if the entry condition and the exit condition are met, not correcting the initial longitudinal control mode of the current control period and finishing the error transition control of the current round.
In this step, although the initial longitudinal control manner of the current control period is different from that of the previous control period, since the tracking error of at least one control period before the current control period already satisfies the preset constraint condition, the error transition control of the current round may be ended, and the initial longitudinal control manner of the current control period is not corrected.
Step S207: and if the entering condition is met and the exiting condition is not met, modifying the initial longitudinal control mode of the current control period into a transition longitudinal control mode.
In this step, since the tracking error of at least one control cycle before the current control cycle does not meet the preset constraint condition, the error transition control of the current cycle may not be ended, and the initial longitudinal control mode of the current control cycle needs to be corrected.
The transition longitudinal control mode is that the longitudinal motion parameter p to be tracked of the vehicle in the last control period is used as the basis 1 Tracking error e of pre Tracking error e of current control period relative to preset error change slope cur Making corrections to reduce the tracking error e cur And tracking error e pre And then the vehicle is longitudinally controlled according to the corrected tracking error.
Specifically, as shown in fig. 5, the corrected tracking error e may be made cur And tracking error e pre The slope of the connection line is equal to the preset error change slope.
In some embodiments, the tracking error e may be based on pre And the tracking error e of the current control period is calculated according to the following formula (3) based on the preset error change slope cur And (6) correcting.
e final ＝e pre +min(limited rate ×ts，max(-1×limited rate ×ts，e cur -e pre )) (3)
The meaning of each parameter in the formula (3) is: e.g. of the type final Indicating the tracking error e for the current control period cur Corrected tracking error, limited rate And the system represents a preset error change slope, ts represents sampling time, min represents a minimum function, and max represents a maximum function. The sampling time is a sampling time for sampling a preset error change slope.
In some embodiments, to improve the tracking error e cur The accuracy of the correction can be determined by the following steps 11 to 13.
Step 11: determining a longitudinal movement parameter p assigned by an upstream system and to be tracked during longitudinal control of a vehicle 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 Wherein the longitudinal motion parameter p to be tracked 1 Is a target longitudinal motion parameter p at the vehicle position 2 Is the vehicle speed, longitudinal motion parameter p to be tracked 1 Is a target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration.
The upstream system refers to a higher-level control system that is capable of communicating with a control system for executing the longitudinal control method of the vehicle according to the embodiment of the invention and transmitting a control instruction, relative to the control system.
Step 12: according to the longitudinal motion parameter p of the target in the current control period 2 Actual value of (p) 2_a And a target value p 2_t And calculating an initial error change slope limited by the following equation (4) rate_ini 。
limited rate_ini ＝(p 2_a -p 2_t )×g (4)
The parameter g in equation (4) represents a preset gain.
Step 13: initial error change slope limited rate_ini The larger one of the preset error change slope fixed values is used as the final error change slope limited rate 。
If the current control period is the same as the previous control periodThe initial longitudinal control modes of the periods are different, which shows that the tracking error of the current control period is greatly changed relative to the previous control period. If the error change slope limited is used rate The correction of the tracking error may cause the tracking error of the current control period to be closer to the tracking error of the previous control period, i.e. the change is very small, which will not meet the actual vehicle driving state, and if the longitudinal control of the vehicle is performed by using the closer tracking error, the longitudinal motion parameter p to be tracked may not be able to be processed 1 And performing normal tracking, such as incapable of driving to a target position of the vehicle position. Therefore, a preset fixed value of the error change slope is set, and the initial error change slope limited is set rate_ini The larger one of the preset error change slope fixed values is used as the final error change slope limited rate This prevents the occurrence of the above-described situation, and enables normal longitudinal control of the vehicle.
It should be noted that, a person skilled in the art may perform a longitudinal control test on the vehicle to determine a specific value of the preset fixed value of the error change slope, and the embodiment of the present invention does not specifically limit the specific value.
Further, in some preferred embodiments, the constraint condition preset in the exit condition may include at least the tracking error e corresponding to the control cycle immediately preceding the current control cycle final And tracking error e cur Is smaller than a preset deviation threshold value, and a tracking error e corresponding to a second control period before the current control period final And a tracking error e cur Is greater than or equal to a preset deviation threshold value.
Step S208: and if the entry condition is not met and the exit condition is met, not correcting the initial longitudinal control mode of the current control period and finishing the error transition control of the current round.
Step S209: and if the entering condition is not met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control cycle into the longitudinal control mode actually adopted by the previous control cycle, wherein the actually adopted longitudinal control mode is the initial longitudinal control mode or the transition longitudinal control mode.
In this step, since the entry condition is not satisfied, which indicates that the difference between the tracking errors of the current control cycle and the previous control cycle is not large, but since the exit condition is not satisfied, it is necessary to continue the longitudinal control of the vehicle along the longitudinal control manner actually adopted in the previous control cycle in order to ensure that the vehicle has high comfort.
By the method described in the above steps S201 to S209, the longitudinal motion parameter p to be tracked can be obtained 1 Until the exit condition of the error transition control is satisfied, and then the step S102 in the foregoing embodiment of the method is continuously executed.
It should be noted that, although the foregoing embodiments describe each step in a specific sequence, those skilled in the art will understand that, in order to achieve the effect of the present invention, different steps do not necessarily need to be executed in such a sequence, and they may be executed simultaneously (in parallel) or in other sequences, and these changes are all within the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the flow of the method according to the above-described embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used to implement the steps of the above-described embodiments of the method when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying said computer program code, media, usb disk, removable hard disk, magnetic diskette, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunication signals, software distribution media, etc. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
Furthermore, the invention also provides computer equipment. In one computer apparatus embodiment according to the present invention, the computer apparatus comprises a processor and a storage device, the storage device may be configured to store a program for executing the longitudinal control method of the vehicle of the above-described method embodiment, and the processor may be configured to execute the program in the storage device, the program including but not limited to the program for executing the longitudinal control method of the vehicle of the above-described method embodiment. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and details of the specific techniques are not disclosed. The computer device may be a device formed including various electronic devices.
Further, the invention also provides a computer readable storage medium. In one computer-readable storage medium embodiment according to the present invention, a computer-readable storage medium may be configured to store a program for executing the longitudinal control method of the vehicle of the above-described method embodiment, which may be loaded and executed by a processor to implement the longitudinal control method of the vehicle described above. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and specific technical details are not disclosed. The computer readable storage medium may be a storage device formed by including various electronic devices, and optionally, the computer readable storage medium is a non-transitory computer readable storage medium in the embodiment of the present invention.
Further, the invention also provides a vehicle. In a vehicle embodiment according to the invention, the vehicle may comprise a computer device as described above in the computer device embodiment. The vehicle may be an autonomous vehicle, an unmanned vehicle, or the like in the present embodiment. In addition, the vehicle in the embodiment may be a fuel vehicle, an electric vehicle, a hybrid vehicle in which electric energy and fuel are mixed, or a vehicle using other new energy, and the like, classified according to the power source type.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (10)

1. A longitudinal control method of a vehicle, characterized by comprising:
acquiring longitudinal motion parameter p to be tracked of vehicle in current control period 1 Tracking error e of cur ；
For the tracking error e cur Comparing with a preset error limit value to determine an initial longitudinal control mode for longitudinally controlling the vehicle in the current control period, specifically comprising:
if e cur ＞e th2 Then the initial longitudinal control mode is based on the tracking error e cur Longitudinal control of the vehicle, said e th2 Is the upper limit value of the preset error limit value;
if e th1 ≤e cur ≤e th2 If the initial longitudinal control mode is the initial longitudinal control mode of the previous control cycle, e th1 Is the lower limit of the preset error limit;
if e cur ＜e th1 Then the initial longitudinal control mode is to use the tracking error e cur Correction to zero, based on the corrected tracking error e cur And performing longitudinal control on the vehicle.
2. The longitudinal control method of a vehicle according to claim 1, wherein if e cur ＜e th1 Then the initial longitudinal control mode is to use the tracking error e cur Correction to zero, based on the corrected tracking error e cur To vehicleThe step of performing longitudinal control of the vehicle specifically comprises:
judging the longitudinal motion parameter p to be tracked of the vehicle in a plurality of continuous control periods before the current control period 1 Whether the tracking errors are all smaller than a lower limit value e of a preset error limit value th1 ；
If yes, the initial longitudinal control mode is to use the tracking error e cur Corrected to zero, based on the corrected tracking error e cur Performing longitudinal control on the vehicle;
if not, the initial longitudinal control mode is according to the tracking error e cur Performing longitudinal control on the vehicle;
and/or the presence of a gas in the atmosphere,
in "according to said tracking error e cur Before longitudinal control of the vehicle ", the method further comprises the step of determining the tracking error e cur Low pass filtering is performed.
3. The longitudinal control method of a vehicle according to claim 1, characterized by further comprising correcting an initial longitudinal control manner of a current control cycle when the current control cycle is not in error transition control by:
judging whether the current control period meets an entry condition of error transition control, wherein the entry condition is that the initial longitudinal control mode of the current control period is different from that of the previous control period;
if yes, starting a new round of error transition control and correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode, wherein the transition longitudinal control mode is based on the longitudinal motion parameter p to be tracked of the vehicle in the last control period 1 Tracking error e of pre Tracking error e of current control period relative to preset error change slope cur Making a correction to reduce said tracking error e cur And the tracking error e pre And then the vehicle is longitudinally controlled according to the corrected tracking error;
if not, not starting a new round of error transition control and not correcting the initial longitudinal control mode of the current control period:
alternatively, the first and second electrodes may be,
the method also comprises the following steps of correcting the initial longitudinal control mode of the current control period when the current control period is in the error transition control:
judging whether the current control period meets an entry condition and an exit condition of error transition control, wherein the exit condition is that the tracking error of at least one control period before the current control period meets a preset constraint condition;
if the entry condition and the exit condition are met, the initial longitudinal control mode of the current control period is not corrected, and the error transition control of the current round is finished;
if the entering condition is met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control period into a transition longitudinal control mode;
if the entry condition is not met and the exit condition is met, the initial longitudinal control mode of the current control period is not corrected and the error transition control of the current round is finished;
and if the entering condition is not met and the exiting condition is not met, correcting the initial longitudinal control mode of the current control cycle into the longitudinal control mode actually adopted by the previous control cycle, wherein the actually adopted longitudinal control mode is the initial longitudinal control mode or the transitional longitudinal control mode.
4. Longitudinal control method of a vehicle according to claim 3, characterized in that "according to the longitudinal motion parameter p to be tracked of the vehicle in the last control period 1 Tracking error e of pre Tracking error e of current control period relative to preset error change slope cur Making a correction to reduce said tracking error e cur And the tracking error e pre The step of "comprises:
according to the tracking error e pre And the tracking error e of the current control period is calculated according to the following formula cur To repairPositive:
e final ＝e pre +min(limited rate ×ts，max(-1×limited rate ×ts，e cur -e pre ))
wherein e is final Indicating the tracking error e for the current control period cur Corrected tracking error, limited rate The method comprises the steps of representing a preset error change slope, ts representing sampling time, min representing a minimum function, and max representing a maximum function;
and/or the presence of a gas in the atmosphere,
the preset constraint conditions in the exit conditions at least comprise:
tracking error e corresponding to the previous control period of the current control period final And tracking error e cur Is less than a preset deviation threshold, an
Tracking error e corresponding to the second control period before the current control period final And a tracking error e cur Is greater than or equal to a preset deviation threshold value.
5. The longitudinal control method of a vehicle according to claim 3, characterized in that the method further comprises determining the preset error change slope by:
determining the longitudinal motion parameter p to be tracked and assigned by an upstream system when the vehicle is longitudinally controlled 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 Wherein the longitudinal motion parameter p to be tracked 1 Is the longitudinal motion parameter p of the object at the vehicle position 2 Is the vehicle speed, the longitudinal movement parameter p to be tracked 1 Is the target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration;
according to the longitudinal motion parameter p of the target in the current control period 2 Actual value of (p) 2_a With a target value p 2_t And calculating an initial error variation slope limited by the following formula rate_ini Wherein g represents a preset gain:
limited rate_ini ＝(p 2_a -p 2_t )×g
the initial error change slope limited rate_ini And the larger one of the preset error change slope fixed values is used as the final error change slope.
6. The longitudinal control method of a vehicle according to claim 1, characterized in that the method further includes determining lower limit values e of the preset error limit values, respectively, by th1 And an upper limit value e th2 ：
Determining the longitudinal motion parameter p to be tracked and assigned by an upstream system when the vehicle is longitudinally controlled 1 Is detected by the tracking error-related longitudinal motion parameter p of the object 2 Wherein the longitudinal motion parameter p to be tracked 1 Is the longitudinal motion parameter p of the object at the vehicle position 2 Is the vehicle speed, the longitudinal movement parameter p to be tracked 1 Is the target longitudinal motion parameter p at vehicle speed 2 Is the vehicle acceleration;
calculating the longitudinal motion parameter p of the target in the current control period 2 Actual value of (p) 2_a The product of the sampling time and the sampling time, and selecting the larger one of the product and a preset minimum limit value as a characteristic distance;
comparing the characteristic distance with a preset lower limit coefficient c 1 As the lower limit value e th1 The characteristic distance is compared with a preset upper limit coefficient c 2 As the upper limit value e th2 Wherein, 0 < c 1 ＜1＜c 2 。
7. The longitudinal control method of a vehicle according to claim 6, characterized in that the method further comprises determining the preset minimum limit value by:
when the target longitudinal motion parameter p 2 When the vehicle speed is higher than the preset vehicle speed, the preset longitudinal motion parameter p to be tracked when the vehicle stops 1 As the preset minimum threshold value;
when the target longitudinal motion parameter p 2 When the vehicle acceleration is the vehicle acceleration, the preset longitudinal motion parameter p to be tracked during constant-speed cruising of the vehicle is obtained 1 As the preset minimum threshold value.
8. A computer arrangement comprising a processor and a storage device adapted to store a plurality of program codes characterized in that said program codes are adapted to be loaded and run by said processor to perform the longitudinal control method of a vehicle according to any one of claims 1 to 7.
9. A computer readable storage medium having a plurality of program codes stored therein, characterized in that the program codes are adapted to be loaded and executed by a processor to perform the longitudinal control method of a vehicle according to any one of claims 1 to 7.
10. A vehicle characterized in that it comprises a computer device according to claim 8.
CN202210708989.6A 2022-06-21 2022-06-21 Longitudinal control method of vehicle, computer device, storage medium and vehicle Pending CN115140038A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115571117A (en) * 2022-11-21 2023-01-06 安徽蔚来智驾科技有限公司 Vehicle longitudinal control method, computer device, storage medium and vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115571117A (en) * 2022-11-21 2023-01-06 安徽蔚来智驾科技有限公司 Vehicle longitudinal control method, computer device, storage medium and vehicle

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