The embodiment of the invention discloses a longitudinal control method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a reference vehicle speed sequence according to the planned speed of a reference track point, and determining a reference acceleration sequence according to the planned acceleration of the reference track point; according to the expected acceleration increment correlation, the current speed of the vehicle, the current acceleration of the vehicle, the expected acceleration of the vehicle at the previous moment of the current moment, the current speed error integral of the vehicle, the current acceleration error integral of the vehicle, the reference speed sequence and the reference acceleration sequence; minimizing a pre-established target function under the constraint of a preset constraint condition, and determining the expected acceleration increment sequence; and determining the sum value of the first item in the expected acceleration increment sequence and the expected acceleration of the vehicle at the previous moment of the current moment as the expected acceleration of the current moment so as to realize safer, more accurate and smoother longitudinal control.
本公开实施例公开了一种纵向控制方法、装置、电子设备和存储介质,该方法包括:根据参考轨迹点的规划速度,确定参考车速序列,并根据所述参考轨迹点的规划加速度,确定参考加速度序列;根据期望加速度增量相关关系、车辆当前速度、车辆当前加速度、车辆在当前时刻的上一时刻的期望加速度、车辆当前车速误差积分、车辆当前加速度误差积分、所述参考车速序列以及所述参考加速度序列,在预设约束条件的约束下最小化预先建立的目标函数,确定所述期望加速度增量序列;将所述期望加速度增量序列中的第一项与所述车辆在当前时刻的上一时刻的期望加速度的和值,确定为当前时刻的期望加速度,以实现更安全、更精确、更平顺的纵向控制。
Longitudinal control method and device, electronic equipment and storage medium
纵向控制方法、装置、电子设备和存储介质
2024-02-09
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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