The invention discloses a vehicle cruise control method and device, electronic equipment and a storage medium, and the method comprises the steps that a reference track of a target vehicle in a prediction time domain is obtained, the reference track comprises the state quantity of the target vehicle in the prediction time domain, the state quantity comprises the distance difference between an expected target vehicle distance and an actual vehicle distance, and the target vehicle distance is obtained; the expected target vehicle distance is obtained by discretizing the set target vehicle distance within at least two time steps; based on the reference trajectory, an optimization target and a control target, an objective function of the target vehicle in a prediction time domain is determined, the optimization target comprises a prediction state of the target vehicle in the prediction time domain, and the control target comprises control quantity increment of the target vehicle in adjacent step lengths in a control time domain; and based on the state quantity constraint condition, the target function is solved in a rolling manner in the prediction time domain, and the control quantity increment of each adjacent step length of the target vehicle in the control time domain is obtained so as to perform cruise control on the target vehicle. In this way, the requirement of the ACC algorithm for cruise control can be met.

    本申请公开了一种车辆巡航控制方法和装置、电子设备和存储介质,其中该方法包括获取目标车辆在预测时域中的参考轨迹,其中,参考轨迹包括目标车辆在预测时域内的状态量,状态量包括期望目标车距和实际车距的距离差,期望目标车距由设定目标车距在至少两个时间步长内离散获得;基于参考轨迹、优化目标以及控制目标,确定目标车辆在预测时域中的目标函数,其中,优化目标包括预测时域中目标车辆的预测状态,控制目标包括控制时域中目标车辆在相邻步长的控制量增量;基于状态量约束条件,在预测时域内滚动求解目标函数,获得目标车辆在控制时域中各相邻步长的控制量增量,以对目标车辆进行巡航控制。这样,可以满足ACC算法对巡航控制的需求。


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    Titel :

    Vehicle cruise control method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    车辆巡航控制方法和装置、电子设备和存储介质


    Beteiligte:
    WANG TAIXIANG (Autor:in) / ZOU HANPENG (Autor:in) / LYU QIANG (Autor:in)

    Erscheinungsdatum :

    2023-04-25


    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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