The invention provides a commercial vehicle automatic driving longitudinal control method and system, a vehicle and a storage medium. The method comprises the steps that the vehicle real-time state quantity of the commercial vehicle is acquired; a fixed-parameter closed-loop controller and at least one variable-parameter closed-loop controller are constructed, and target control parameters are set based on the state quantity deviation between the real-time state quantity and the expected state quantity of the vehicle and the gear shifting state of the gearbox; the driving force is compensated based on a fixed parameter closed-loop controller and a variable parameter closed-loop controller; determining the wheel-side driving force of the whole vehicle based on the compensation driving force, and judging the longitudinal control mode of the commercial vehicle based on the wheel-side driving force of the whole vehicle; when traction control is carried out, engine demand torque is determined based on the whole vehicle wheel edge driving force, the accelerator opening degree is determined based on the engine demand torque, and the commercial vehicle is controlled to accelerate longitudinally based on the accelerator opening degree; and when braking control is performed, braking deceleration is requested through drive-by-wire, and longitudinal deceleration of the commercial vehicle is controlled. According to the invention, the efficiency and stability of automatic driving longitudinal control of the commercial vehicle are improved.
本发明提供了一种商用车自动驾驶纵向控制方法、系统、车辆及存储介质,其方法包括:获取商用车的车辆实时状态量;构建定参数闭环控制器和至少一个变参数闭环控制器,基于车辆实时状态量与期望状态量的状态量偏差及变速箱换挡状态设定目标控制参数;基于定参数闭环控制器和变参数闭环控制器确补偿驱动力;基于补偿驱动力确定整车轮边驱动力,并基于整车轮边驱动力判断商用车的纵向控制方式;当为牵引力控制时,基于整车轮边驱动力确定引擎需求扭矩,并基于引擎需求扭矩确定油门开度,并基于油门开度控制商用车纵向加速;当为制动控制时,通过线控请求制动减速度,控制商用车纵向减速。本发明提高了商用车自动驾驶纵向控制的效率和平稳性。
Commercial vehicle automatic driving longitudinal control method and system, vehicle and storage medium
商用车自动驾驶纵向控制方法、系统、车辆及存储介质
2024-02-02
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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