The invention provides an automatic driving vehicle longitudinal control method considering multiple factors. The method comprises the steps that S1, control state information needed by automatic driving vehicle longitudinal control is obtained through a vehicle-mounted sensing device; s2, selecting corresponding longitudinal control strategies under different working conditions based on the acquired control state information and the motion state of the other vehicle; s3, considering the driving comfort, the weather condition and the road vehicle speed limit value, and setting conditional constraints for the acceleration and the target cruising vehicle speed; and S4, aiming at different control strategies, calculating a target acceleration (deceleration) speed for longitudinal control of the automatic driving vehicle by utilizing a control algorithm, and outputting the target acceleration (deceleration) speed for controlling acceleration (deceleration) of the vehicle to finish longitudinal control. According to the method, influence factors in the three aspects of the motion state of other vehicles, the driving comfort and the external weather condition are comprehensively considered, and the longitudinal control function is guaranteed, and meanwhile, the longitudinal control safety of the automatic driving vehicle and the comfort of drivers and passengers are improved.
本发明提出了一种考虑多因素的自动驾驶车辆纵向控制方法:S1,通过车载感知装置获取自动驾驶车辆纵向控制所需的控制状态信息;S2,基于获取的控制状态信息及他车运动状态,选择不同工况下所对应的纵向控制策略;S3,考虑驾乘舒适性、天气状况及道路车速限值,对加速度及目标巡航车速设置条件约束;S4,针对不同的控制策略,利用控制算法计算自动驾驶车辆纵向控制的目标加(减)速度,并输出该目标加(减)速度用于控制车辆加(减)速,完成纵向控制。本发明综合考虑他车运动状态、驾乘舒适性和外界天气状况三方面影响因素,在保证纵向控制功能的同时,提高了自动驾驶车辆纵向控制的安全性,以及驾乘人员的舒适性。
Automatic driving vehicle longitudinal control method and system considering multiple factors
一种考虑多因素的自动驾驶车辆纵向控制方法及系统
23.05.2023
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 |
LONGITUDINAL CONTROL METHOD AND SYSTEM FOR AUTOMATIC DRIVING VEHICLE
Europäisches Patentamt | 2024
|Commercial vehicle automatic driving longitudinal control system and method
Europäisches Patentamt | 2022
|LONGITUDINAL CONTROL METHOD AND SYSTEM FOR AUTOMATIC DRIVING VEHICLE
Europäisches Patentamt | 2020
|Longitudinal control method and system for automatic driving vehicle and vehicle
Europäisches Patentamt | 2023
|Automatic driving vehicle transverse and longitudinal control method and system
Europäisches Patentamt | 2023
|