The invention discloses an intelligent automobile braking longitudinal speed planning control method, device and equipment, according to a quintic polynomial displacement function, the expected displacement at the current moment in the braking process is calculated, the difference between the expected displacement at the current moment and the actual displacement at the current moment is obtained to obtain a displacement difference value, the displacement difference value is subjected to PID control processing, and the braking longitudinal speed of an automobile is obtained. Obtaining a supplementary speed; according to the quintic polynomial speed function, the expected speed at the current moment in the braking process is calculated, the difference between the expected speed at the current moment and the actual speed at the current moment is obtained, a speed difference value is obtained, PID control processing is conducted after the speed difference value and the supplementary speed are added, and supplementary acceleration is obtained; according to the quintic polynomial acceleration function, the expected acceleration at the current moment in the braking process is calculated, the expected acceleration and the supplementary acceleration are added, and the braking acceleration at the current moment is obtained. According to the invention, a displacement curve, a speed curve and an acceleration curve can be smooth, so that comfortable and stable braking is realized.

    本发明公开了一种智能汽车刹车纵向速度规划控制方法、装置和设备,根据五次多项式位移函数,计算刹车过程中当前时刻的期望位移,将当前时刻的期望位移与当前时刻的实际位移作差得到位移差值,将位移差值进行PID控制处理,得到补充速度;根据五次多项式速度函数,计算刹车过程中当前时刻的期望速度,将当前时刻的期望速度与当前时刻的实际速度作差得到速度差值,将速度差值与补充速度相加后进行PID控制处理,得到补充加速度;根据五次多项式加速度函数,计算刹车过程中当前时刻的期望加速度,将期望加速度与补充加速度相加,得到当前时刻的刹车制动加速度。本发明能够使得位移曲线平滑、速度曲线平滑和加速度曲线平滑,从而实现舒适,平稳的刹车。


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    Titel :

    Intelligent automobile braking longitudinal speed planning control method, device and equipment


    Weitere Titelangaben:

    一种智能汽车刹车纵向速度规划控制方法、装置和设备


    Beteiligte:
    WANG DIANGUO (Autor:in) / WANG HONGYU (Autor:in) / LI GUANGYU (Autor:in) / ZHANG ZHIFEI (Autor:in) / YAN TIAN'EN (Autor:in) / QIAN QISHENG (Autor:in)

    Erscheinungsdatum :

    2023-03-28


    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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