The embodiment of the invention relates to a longitudinal acceleration prediction method. The method comprises the following steps: acquiring a first feedback information group and a corresponding first planning track; predicting the feedforward control quantity of the longitudinal acceleration according to the first feedback information group and the first planning track to generate a corresponding feedforward control quantity aforward; predicting the feedback control quantity of the longitudinal acceleration according to the first feedback information group and the first planning track to generate a corresponding feedback control quantity abackward; adding the feedforward control quantity a < forward > and the feedback control quantity b < back > to generate a predictive control quantity a of the longitudinal acceleration; and the predictive control quantity a is modulated according to a preset acceleration constraint range. According to the invention, the control module can consider the delay characteristic of the vehicle during longitudinal control, so that the problems of lagging, overshoot and the like caused by longitudinal delay can be eliminated.
本发明实施例涉及一种纵向加速度的预测方法,所述方法包括:获取第一反馈信息组和对应的第一规划轨迹;根据第一反馈信息组和第一规划轨迹对纵向加速度的前馈控制量进行预测生成对应的前馈控制量aforward;根据第一反馈信息组和第一规划轨迹对纵向加速度的反馈控制量进行预测生成对应的反馈控制量abackward;由前馈控制量aforward和反馈控制量abackward相加生成纵向加速度的预测控制量a;并根据预设的加速度约束范围对预测控制量a进行调制。通过本发明,控制模块在进行纵向控制时会将车辆的延迟特性考虑其中,从而可以消除纵向延迟带来的滞后和超调等问题。
Method for predicting longitudinal acceleration
一种纵向加速度的预测方法
2022-12-23
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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