The invention discloses a driving and braking control decision-making method for an intelligent driving vehicle. The method comprises the following steps: establishing a longitudinal dynamic model in a driving mode through a driving equation to estimate each resistance value of the vehicle; calculating the acceleration of the vehicle during non-driving and non-braking sliding and the upper and lower limits of the sliding acceleration of the vehicle as driving and braking mode decision-making conditions; and a driving and braking control mode switching decision is made according to the driving and braking mode decision condition, and a torque control or braking control request is sent out. According to the method, the estimation precision of the actual motion state of the vehicle is improved by establishing the accurate longitudinal dynamics model, the transition sliding state between driving and braking is introduced, the driving and braking mode decision-making conditions are designed, the reasonability of driving and braking control decision-making is improved, and the method has substantial significance in improving the longitudinal control performance of the intelligent driving vehicle. The method has a wide application prospect and a high market value.

    本发明公开了一种智能驾驶车辆驱制动控制决策方法,包括:通过行驶方程式建立驱动模式下的纵向动力学模型估算车辆各阻力值;计算无驱动且无制动滑行时车辆加速度,以及作为驱动制动模式决策条件的车辆滑行加速度上下限;根据驱制动模式决策条件做出驱动制动控制模式切换决策,发出扭矩控制或制动控制请求。本发明通过建立精确的纵向动力学模型提高车辆实际运动状态的估算精度,引入驱制动间的过渡滑行状态并设计驱动制动模式决策条件,提高驱制动控制决策的合理性,对于智能驾驶车辆纵向控制性能提升具有实质意义,具有广阔的应用前景和较高的市场价值。


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    Titel :

    Driving and braking control decision-making method for intelligent driving vehicle, controller and storage medium


    Weitere Titelangaben:

    智能驾驶车辆驱制动控制决策方法、控制器及存储介质


    Beteiligte:
    HE YICHAO (Autor:in) / LI HAO (Autor:in) / TONG YUWEI (Autor:in) / HOU SHICHANG (Autor:in) / TIAN HE (Autor:in) / LU CHANG (Autor:in)

    Erscheinungsdatum :

    2024-01-26


    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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