The invention relates to a vehicle longitudinal control method and device, electronic equipment and a storage medium. The method is applied to a vehicle longitudinal control device, the device comprises a position outer loop system, a speed inner loop system and a tracking differentiator, and the method comprises the steps that the current pose of a vehicle under a global coordinate system is obtained, and the position outer loop system is used for generating expected speed compensation control quantity according to the current reference pose and the current pose of the vehicle; the current reference pose is obtained from a reference trajectory issued by a planning system of the vehicle, then a tracking differentiator is used for filtering a feedforward signal issued by the planning system, and a speed inner loop system is used for calculating the current reference pose according to the filtered feedforward signal, the expected speed compensation control quantity and the current longitudinal speed of the vehicle; an acceleration control amount for longitudinal control of the vehicle is generated. According to the method provided by the invention, accurate longitudinal control is carried out on the vehicle, so that the longitudinal speed tracking error of the vehicle is reduced, and the vehicle can stably track the longitudinal expected acceleration.
本公开涉及一种车辆纵向控制方法、装置、电子设备和存储介质。方法应用于车辆纵向控制装置,装置包括位置外环系统、速度内环系统和跟踪微分器,方法包括:获取车辆在全局坐标系下的当前位姿,利用位置外环系统根据车辆的当前参考位姿和当前位姿生成期望速度补偿控制量,当前参考位姿是从车辆的规划系统下发的参考轨迹中获取的,随后,利用跟踪微分器对规划系统下发的前馈信号进行滤波,利用速度内环系统根据滤波后的前馈信号、期望速度补偿控制量以及车辆的当前纵向速度,生成对车辆进行纵向控制的加速度控制量。本公开提供的方法通过对车辆进行准确的纵向控制,降低了车辆纵向速度跟踪误差,使得车辆平稳的跟踪纵向的期望加速度。
Vehicle longitudinal control method and device, electronic equipment and storage medium
车辆纵向控制方法、装置、电子设备和存储介质
2022-11-01
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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