The invention discloses a parking longitudinal control method and device, a terminal and a storage medium. The method comprises the steps of obtaining a target position, a target speed and a target acceleration; calculating a first deceleration according to the target position, the target speed and the target acceleration; calculating a second deceleration; under the condition that the first residual path length is smaller than a first preset threshold value and the vehicle speed is smaller than a second preset threshold value, the first deceleration is compared with the second deceleration; and the smaller deceleration in the first deceleration and the second deceleration is used as a third deceleration, so that the vehicle is braked according to the third deceleration. The deceleration instruction decision-making module is additionally arranged on the upper layer controller, the third deceleration is determined through the first deceleration and the second deceleration, so that the vehicle is braked according to the third deceleration, the problem of response delay of an actuator is effectively solved, and the robustness of longitudinal control is improved.
本申请公开了一种停车纵向控制方法、装置、终端及存储介质,方法包括:获取目标位置、目标速度以及目标加速度;根据目标位置、目标速度以及目标加速度,计算第一减速度;计算第二减速度;在第一剩余路径长度小于第一预设阈值且车速小于第二预设阈值的情况下,将第一减速度与第二减速度进行比较;将第一减速度与第二减速度中较小的减速度作为第三减速度,以使车辆按照第三减速度进行刹停。本发明通过在上层控制器增加了减速度指令决策模块,以通过第一减速度与第二减速度确定第三减速度,以使车辆按照第三减速度进行刹停,有效地改善了执行器响应延迟问题,提升了纵向控制的鲁棒性。
Parking longitudinal control method and device, terminal and storage medium
停车纵向控制方法、装置、终端及存储介质
2024-01-23
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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