The invention provides an automatic driving longitudinal control method based on a GRU network regulation and control mechanism, and the method comprises the steps: collecting the real-time driving state data of a vehicle, and calculating the following speed and acceleration of the vehicle under a Frenet coordinate system as reference values of a prediction state; the real-time speed and the acceleration of the vehicle are tracked, the change situation of the vehicle speed and the acceleration along with control output is predicted, speed PID control parameters are dynamically adjusted according to the driving situation, and the expected speed control quantity is output; the acceleration PID control parameters are dynamically adjusted according to the expected speed and the driving situation, and the expected acceleration control quantity is output; the expected acceleration is converted into drive-by-wire signals of an accelerator and a brake, then longitudinal driving of the vehicle is directly controlled, network gradient is adopted to update influence feedback control parameters, self-adaptive regulation and control of the longitudinal speed and the acceleration are achieved, and the longitudinal control precision of the vehicle under the working condition of a larger range is effectively improved.

    本公开提供了一种基于GRU网络调控机制的自动驾驶纵向控制方法,包括采集车辆实时的行驶状态数据,并计算Frenet坐标系下的车辆跟随速度与加速度作为预测状态的参考值;分别对车辆的实时速度以及加速度进行跟踪并对车速以及加速度伴随控制输出的变化态势进行预测,依据行驶态势动态调节速度PID控制参数,输出期望速度控制量;依据期望速度和行驶态势动态调节加速度PID控制参数,输出期望加速度控制量;将期望加速度转为油门、刹车的线控信号,进而直接控制车辆的纵向行驶,采用网络梯度更新影响反馈控制参数,实现纵向速度、加速度的自适应调控,有效提升更大范围工况下的车辆纵向控制精度。


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    Titel :

    Automatic driving longitudinal control method and system based on GRU network regulation and control mechanism


    Weitere Titelangaben:

    基于GRU网络调控机制的自动驾驶纵向控制方法及系统


    Beteiligte:
    ZHANG DAIFENG (Autor:in) / LIN XINHAO (Autor:in) / LI YANQIANG (Autor:in) / WANG YONG (Autor:in) / ZHANG CHAO (Autor:in)

    Erscheinungsdatum :

    2022-11-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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